fix(obstacle_avoidance_planner, path_smoother): change logger level o…

…f debug print (#6298) Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Feb 5, 2024 · 0d10e81 · 0d10e81
1 parent bd4b5ca
commit 0d10e81
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/.../obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp b/.../obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp
@@ -178,7 +178,7 @@ std::optional<size_t> updateFrontPointForFix(
   const double lon_offset_to_prev_front =
     motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
   if (0 < lon_offset_to_prev_front) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("obstacle_avoidance_planner.trajectory_utils"),
       "Fixed point will not be inserted due to the error during calculation.");
     return std::nullopt;
@@ -189,7 +189,7 @@ std::optional<size_t> updateFrontPointForFix(
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
   if (max_lat_error < dist) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("obstacle_avoidance_planner.trajectory_utils"),
       "New Fixed point is too far from points %f [m]", dist);
   }

diff --git a/planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp b/planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp
@@ -136,7 +136,7 @@ std::optional<size_t> updateFrontPointForFix(
   const double lon_offset_to_prev_front =
     motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
   if (0 < lon_offset_to_prev_front) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("path_smoother.trajectory_utils"),
       "Fixed point will not be inserted due to the error during calculation.");
     return std::nullopt;
@@ -147,7 +147,7 @@ std::optional<size_t> updateFrontPointForFix(
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
   if (max_lat_error < dist) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("path_smoother.trajectory_utils"),
       "New Fixed point is too far from points %f [m]", dist);
   }