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chore(lanelet2_map_loader): enrich error message #6245

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merged 1 commit into from
Feb 2, 2024
Merged

chore(lanelet2_map_loader): enrich error message #6245

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8 changes: 8 additions & 0 deletions map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,7 @@
// load map from file
const auto map = load_map(lanelet2_filename, *msg);
if (!map) {
RCLCPP_ERROR(get_logger(), "Failed to load lanelet2_map. Not published.");
return;
}

Expand All @@ -87,6 +88,7 @@
pub_map_bin_ =
create_publisher<HADMapBin>("output/lanelet2_map", rclcpp::QoS{1}.transient_local());
pub_map_bin_->publish(map_bin_msg);
RCLCPP_INFO(get_logger(), "Succeeded to load lanelet2_map. Map is published.");
}

lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
Expand All @@ -105,6 +107,12 @@
const lanelet::projection::LocalProjector projector;
const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors);

if (!errors.empty()) {
for (const auto & error : errors) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
}
}

Check warning on line 115 in map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

Lanelet2MapLoaderNode::load_map has a cyclomatic complexity of 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

Check notice on line 115 in map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Bumpy Road Ahead 

Lanelet2MapLoaderNode::load_map increases from 2 to 3 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
// overwrite local_x, local_y
for (lanelet::Point3d point : map->pointLayer) {
if (point.hasAttribute("local_x")) {
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