From 2c72721256d752d1a200eec6b9295d60c40133c7 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 6 Dec 2023 02:23:54 +0900 Subject: [PATCH] fix(mission_planner): fix reroute chattering when mrm route clear fails (#5788) Signed-off-by: kosuke55 Signed-off-by: karishma --- .../mission_planner/src/mission_planner/mission_planner.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index 2890015ad4788..29e8ae1163938 100644 --- 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 {