chore(behavior_path_planner): use RCLCPP_DEBUG for some frequent RCLC…

…PP_WARN (autowarefoundation#4757) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
1222-takeshi · Aug 25, 2023 · 343d718 · 343d718
1 parent 2a9fdb7
commit 343d718
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -461,7 +461,7 @@ void AvoidanceModule::fillEgoStatus(
   if (isOutputPathLocked()) {
     data.safe_new_sl.clear();
     data.candidate_path = helper_.getPreviousSplineShiftPath();
-    RCLCPP_WARN_THROTTLE(
+    RCLCPP_DEBUG_THROTTLE(
       getLogger(), *clock_, 500, "this module is locked now. keep current path.");
     return;
   }
@@ -2455,7 +2455,7 @@ bool AvoidanceModule::isValidShiftLine(
     constexpr double THRESHOLD = 0.1;
     const auto offset = std::abs(new_shift_length - helper_.getEgoShift());
     if (offset > THRESHOLD) {
-      RCLCPP_WARN_THROTTLE(
+      RCLCPP_DEBUG_THROTTLE(
         getLogger(), *clock_, 1000, "new shift line is invalid. [HUGE OFFSET (%.2f)]", offset);
       return false;
     }

diff --git a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
@@ -321,7 +321,7 @@ std::pair<std::vector<double>, std::vector<double>> PathShifter::calcBaseLengths
 
   if (lateral_a_max < lateral_acc_limit_) {
     // no need to consider acceleration limit
-    RCLCPP_WARN_THROTTLE(
+    RCLCPP_DEBUG_THROTTLE(
       logger_, clock_, 3000, "No need to consider lateral acc limit. max: %f, limit: %f",
       lateral_a_max, lateral_acc_limit_);
     return getBaseLengthsWithoutAccelLimit(S, shift_length, v0, a, T, offset_back);