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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
Apache License 2.0
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feat(mpc_lateral_controller): suppress rclcpp_warning/error #9382

Closed takayuki5168 closed 6 days ago

takayuki5168 commented 1 week ago

Description

Suppress the too-frequent MPC's warning which fills the terminal. Instead, set a diag with a detailed reason, and show it on the terminal once as follows. image

Related links

How was this PR tested?

unit test passed perfectly, and psim worked as expected.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions[bot] commented 1 week ago

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codecov[bot] commented 1 week ago

Codecov Report

Attention: Patch coverage is 52.94118% with 16 lines in your changes missing coverage. Please review.

Project coverage is 29.65%. Comparing base (b4603fd) to head (fb1250a). Report is 46 commits behind head on main.

Files with missing lines Patch % Lines
...ontrol/autoware_mpc_lateral_controller/src/mpc.cpp 47.82% 10 Missing and 2 partials :warning:
..._lateral_controller/src/mpc_lateral_controller.cpp 66.66% 0 Missing and 3 partials :warning:
...er/include/autoware/mpc_lateral_controller/mpc.hpp 0.00% 0 Missing and 1 partial :warning:
Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #9382 +/- ## ========================================== - Coverage 29.66% 29.65% -0.01% ========================================== Files 1338 1338 Lines 103204 103223 +19 Branches 40216 40220 +4 ========================================== + Hits 30611 30615 +4 - Misses 69638 69649 +11 - Partials 2955 2959 +4 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9382/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9382/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `34.39% <52.94%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9382/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.65% <ø> (-0.01%)` | :arrow_down: | Carriedforward from [b4603fd](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/b4603fd06fa2b81c90dece1385652cce2d4cd438?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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