fix(behavior_path_planner, motion_velocity_smoother): supress unneces…

…sary output (tier4#579) * fix return value in l2 apply function Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * change turn_signal_decider output Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
boyali · Oct 19, 2022 · 2c7001f · 2c7001f
1 parent bc8d878
commit 2c7001f
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp
@@ -58,7 +58,7 @@ std::pair<TurnIndicatorsCommand, double> TurnSignalDecider::getIntersectionTurnS
   // Get frenet coordinate of current_pose on path
   util::FrenetCoordinate3d vehicle_pose_frenet;
   if (!util::convertToFrenetCoordinate3d(path, current_pose.position, &vehicle_pose_frenet)) {
-    RCLCPP_ERROR_THROTTLE(
+    RCLCPP_DEBUG_THROTTLE(
       logger_, clock, 5000, "failed to convert vehicle pose into frenet coordinate");
     return std::make_pair(turn_signal, distance);
   }

diff --git a/planning/motion_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp b/planning/motion_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp
@@ -51,7 +51,7 @@ bool L2PseudoJerkSmoother::apply(
 
   if (std::fabs(input.front().longitudinal_velocity_mps) < 0.1) {
     RCLCPP_DEBUG(logger_, "closest v_max < 0.1. assume vehicle stopped. return.");
-    return false;
+    return true;
   }
 
   const unsigned int N = input.size();