From a7cc44d91ba1ce1b572349db3b8b4f74bed64b9a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 19 Nov 2024 21:23:47 +0900 Subject: [PATCH] feat: suppress warning/error of the empty predicted trajectory by MPC (#9373) Signed-off-by: Takayuki Murooka --- .../autoware_control_validator/src/control_validator.cpp | 4 +--- .../lane_departure_checker_node.cpp | 3 +-- control/autoware_mpc_lateral_controller/README.md | 6 ++++++ 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index 796928519e8d1..d51282cb33bb3 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -191,9 +191,7 @@ void ControlValidator::validate( const Odometry & kinematics) { if (predicted_trajectory.points.size() < 2) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 1000, - "predicted_trajectory size is less than 2. Cannot validate."); + RCLCPP_DEBUG(get_logger(), "predicted_trajectory size is less than 2. Cannot validate."); return; } if (reference_trajectory.points.size() < 2) { diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp index 8d954517f552d..366b84a1f6131 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -252,8 +252,7 @@ bool LaneDepartureCheckerNode::isDataValid() } if (predicted_trajectory_->points.empty()) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 5000, "predicted_trajectory is empty. Not expected!"); + RCLCPP_DEBUG(get_logger(), "predicted_trajectory is empty. Not expected!"); return false; } diff --git a/control/autoware_mpc_lateral_controller/README.md b/control/autoware_mpc_lateral_controller/README.md index 1b3af44343208..7585e7db140b3 100644 --- a/control/autoware_mpc_lateral_controller/README.md +++ b/control/autoware_mpc_lateral_controller/README.md @@ -75,6 +75,12 @@ Return LateralOutput which contains the following to the controller node - LateralSyncData - steer angle convergence +Publish the following messages. + +| Name | Type | Description | +| ------------------------------- | ---------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `~/output/predicted_trajectory` | autoware_planning_msgs::Trajectory | Predicted trajectory calculated by MPC. The trajectory size will be empty when the controller is in an emergency such as too large deviation from the planning trajectory. | + ### MPC class The `MPC` class (defined in `mpc.hpp`) provides the interface with the MPC algorithm.