add warning log

Shigekazu Fukuta · Shigekazu Fukuta · commit bacba6752922 · 2024-05-09T14:39:55.000+09:00
diff --git a/planning/obstacle_avoidance_planner/src/utils.cpp b/planning/obstacle_avoidance_planner/src/utils.cpp
@@ -344,6 +344,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
 
   // spline interpolation
   std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;
+  auto clock = rclcpp::Clock{RCL_ROS_TIME};
   try {
     const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);
     const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);
@@ -365,6 +366,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
     }
 
   } catch (const std::invalid_argument & e) {
+    RCLCPP_WARN_THROTTLE(rclcpp::get_logger("util"), clock, 1000, "%s", e.what());
     return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};
   }
   return interpolated_points;

Original file line number	Diff line number	Diff line change
`@@ -344,6 +344,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj`
`344`	`344`
`345`	`345`	`// spline interpolation`
`346`	`346`	`std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;`
	`347`	`+ auto clock = rclcpp::Clock{RCL_ROS_TIME};`
`347`	`348`	`try {`
`348`	`349`	`const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);`
`349`	`350`	`const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);`
`@@ -365,6 +366,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj`
`365`	`366`	`}`
`366`	`367`
`367`	`368`	`} catch (const std::invalid_argument & e) {`
	`369`	`+ RCLCPP_WARN_THROTTLE(rclcpp::get_logger("util"), clock, 1000, "%s", e.what());`
`368`	`370`	`return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};`
`369`	`371`	`}`
`370`	`372`	`return interpolated_points;`