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feat: suppress warning/error of the empty predicted trajectory by MPC #9373

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merged 1 commit into from
Nov 19, 2024
Merged

feat: suppress warning/error of the empty predicted trajectory by MPC #9373

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4 changes: 1 addition & 3 deletions control/autoware_control_validator/src/control_validator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -191,9 +191,7 @@ void ControlValidator::validate(
const Odometry & kinematics)
{
if (predicted_trajectory.points.size() < 2) {
RCLCPP_ERROR_THROTTLE(
get_logger(), *get_clock(), 1000,
"predicted_trajectory size is less than 2. Cannot validate.");
RCLCPP_DEBUG(get_logger(), "predicted_trajectory size is less than 2. Cannot validate.");
return;
}
if (reference_trajectory.points.size() < 2) {
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3 changes: 1 addition & 2 deletions ...re_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -252,8 +252,7 @@ bool LaneDepartureCheckerNode::isDataValid()
}

if (predicted_trajectory_->points.empty()) {
RCLCPP_ERROR_THROTTLE(
get_logger(), *get_clock(), 5000, "predicted_trajectory is empty. Not expected!");
RCLCPP_DEBUG(get_logger(), "predicted_trajectory is empty. Not expected!");
return false;
}

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6 changes: 6 additions & 0 deletions control/autoware_mpc_lateral_controller/README.md
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Expand Up @@ -75,6 +75,12 @@ Return LateralOutput which contains the following to the controller node
- LateralSyncData
- steer angle convergence

Publish the following messages.

| Name | Type | Description |
| ------------------------------- | ---------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `~/output/predicted_trajectory` | autoware_planning_msgs::Trajectory | Predicted trajectory calculated by MPC. The trajectory size will be empty when the controller is in an emergency such as too large deviation from the planning trajectory. |

### MPC class

The `MPC` class (defined in `mpc.hpp`) provides the interface with the MPC algorithm.
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