revert debug

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · Sep 12, 2023 · 4dac270 · 4dac270
1 parent 791c67a
commit 4dac270
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -759,7 +759,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
   const auto & conflicting_lanelets = intersection_lanelets_.value().conflicting();
   const auto & first_conflicting_area_opt = intersection_lanelets_.value().first_conflicting_area();
   if (conflicting_lanelets.empty() || !first_conflicting_area_opt) {
-    RCLCPP_INFO(logger_, "conflicting area is empty");
+    RCLCPP_DEBUG(logger_, "conflicting area is empty");
     return IntersectionModule::Indecisive{};
   }
   const auto first_conflicting_area = first_conflicting_area_opt.value();
@@ -772,7 +772,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
     planner_param_.stuck_vehicle.use_stuck_stopline, planner_param_.common.stop_line_margin,
     planner_param_.occlusion.peeking_offset, path);
   if (!intersection_stop_lines_opt) {
-    RCLCPP_INFO(logger_, "failed to generate intersection_stop_lines");
+    RCLCPP_DEBUG(logger_, "failed to generate intersection_stop_lines");
     return IntersectionModule::Indecisive{};
   }
   const auto & intersection_stop_lines = intersection_stop_lines_opt.value();
@@ -786,7 +786,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
     conflicting_area, first_attention_area_opt, intersection_lanelets_.value().attention_area(),
     closest_idx, planner_data_->vehicle_info_.vehicle_width_m);
   if (!path_lanelets_opt.has_value()) {
-    RCLCPP_INFO(logger_, "failed to generate PathLanelets");
+    RCLCPP_DEBUG(logger_, "failed to generate PathLanelets");
     return IntersectionModule::Indecisive{};
   }
   const auto path_lanelets = path_lanelets_opt.value();
@@ -820,13 +820,13 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
   }
 
   if (!first_attention_area_opt) {
-    RCLCPP_INFO(logger_, "attention area is empty");
+    RCLCPP_DEBUG(logger_, "attention area is empty");
     return IntersectionModule::Indecisive{};
   }
   const auto first_attention_area = first_attention_area_opt.value();
 
   if (!default_stop_line_idx_opt) {
-    RCLCPP_INFO(logger_, "default stop line is null");
+    RCLCPP_DEBUG(logger_, "default stop line is null");
     return IntersectionModule::Indecisive{};
   }
   const auto default_stop_line_idx = default_stop_line_idx_opt.value();
@@ -856,12 +856,12 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
     // is_go_out_: previous RTC approval
     // activated_: current RTC approval
     is_permanent_go_ = true;
-    RCLCPP_INFO(logger_, "over the pass judge line. no plan needed.");
+    RCLCPP_DEBUG(logger_, "over the pass judge line. no plan needed.");
     return IntersectionModule::Indecisive{};
   }
 
   if (!occlusion_peeking_stop_line_idx_opt) {
-    RCLCPP_INFO(logger_, "occlusion stop line is null");
+    RCLCPP_DEBUG(logger_, "occlusion stop line is null");
     return IntersectionModule::Indecisive{};
   }
   const auto collision_stop_line_idx =