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fix(lane_change): change logger level in isVehicleStuckByObstacle #5315

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merged 1 commit into from
Oct 16, 2023
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fix(lane_change): change logger level in isVehicleStuckByObstacle #5315

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1086,11 +1086,11 @@

for (const auto & prepare_duration : prepare_durations) {
for (const auto & sampled_longitudinal_acc : longitudinal_acc_sampling_values) {
const auto debug_print = [&](const auto & s) {

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RCLCPP_DEBUG_STREAM(
logger_, " - " << s << " : prep_time = " << prepare_duration
<< ", lon_acc = " << sampled_longitudinal_acc);
};

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// get path on original lanes
const auto prepare_velocity = std::max(
Expand Down Expand Up @@ -1144,11 +1144,11 @@
RCLCPP_DEBUG(logger_, " - sampling num for lat_acc: %lu", sample_lat_acc.size());

for (const auto & lateral_acc : sample_lat_acc) {
const auto debug_print = [&](const auto & s) {

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RCLCPP_DEBUG_STREAM(
logger_, " - " << s << " : prep_time = " << prepare_duration << ", lon_acc = "
<< sampled_longitudinal_acc << ", lat_acc = " << lateral_acc);
};

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planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp#L1151 

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const auto lane_changing_time = PathShifter::calcShiftTimeFromJerk(
shift_length, common_parameters.lane_changing_lateral_jerk, lateral_acc);
Expand Down Expand Up @@ -1265,7 +1265,7 @@
debug_print("Reject: including crosswalk!!");
continue;
}
RCLCPP_INFO_THROTTLE(

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logger_, clock_, 1000, "Stop time is over threshold. Allow lane change in crosswalk.");
}

Expand Down Expand Up @@ -1725,7 +1725,7 @@
constexpr double DETECTION_DISTANCE_MARGIN = 10.0;
const auto detection_distance = max_lane_change_length + rss_dist +
getCommonParam().base_link2front + DETECTION_DISTANCE_MARGIN;
RCLCPP_INFO(logger_, "max_lane_change_length: %f, max_acc: %f", max_lane_change_length, max_acc);
RCLCPP_DEBUG(logger_, "max_lane_change_length: %f, max_acc: %f", max_lane_change_length, max_acc);

return isVehicleStuckByObstacle(current_lanes, detection_distance);
}
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