fix(mission_planner): fix reroute chattering when mrm route clear fai…

…ls (autowarefoundation#5788) Signed-off-by: kosuke55 <[email protected]> Signed-off-by: karishma <[email protected]>
Interplai · Dec 19, 2023 · 2c72721 · 2c72721
1 parent bcd6a12
commit 2c72721
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp
@@ -524,9 +524,8 @@ void MissionPlanner::on_clear_mrm_route(
   // check new route safety
   if (new_route.segments.empty() || !check_reroute_safety(*mrm_route_, new_route)) {
     // failed to create a new route
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "Reroute with normal goal failed.");
+    RCLCPP_ERROR(get_logger(), "Reroute with normal goal failed.");
     change_mrm_route(*mrm_route_);
-    change_route(*normal_route_);
     change_state(RouteState::Message::SET);
     res->status.success = false;
   } else {