feat(behavior_path_planner): error messsage when no pull over/out pla…

…nners (autowarefoundation#2644) (#242) feat(behavior_path_planner): error messsage when no pull over/out planner Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Jan 13, 2023 · 6e8570f · 6e8570f
1 parent 7ebb313
commit 6e8570f
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
@@ -55,7 +55,7 @@ PullOutModule::PullOutModule(
       std::make_shared<GeometricPullOut>(node, parameters, getGeometricPullOutParameters()));
   }
   if (pull_out_planners_.empty()) {
-    RCLCPP_DEBUG(getLogger(), "Not found enabled planner");
+    RCLCPP_ERROR(getLogger(), "Not found enabled planner");
   }
 }
 

diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -77,6 +77,9 @@ PullOverModule::PullOverModule(
       node, parameters, getGeometricPullOverParameters(), lane_departure_checker,
       occupancy_grid_map_, is_forward));
   }
+  if (pull_over_planners_.empty()) {
+    RCLCPP_ERROR(getLogger(), "Not found enabled planner");
+  }
 
   // set selected goal searcher
   // currently there is only one goal_searcher_type