Throttle some warnings. (#1231)

joao-aguizo · web-flow · commit 6d6ce3df4484 · 2023-01-16T13:04:27.000-05:00
Throttle planner and controller warnings. Avoids high frequency outputs to terminal. This is specially valuable in the following contexts:

 * long term experiments, in which terminal outputs' are saved for later analysis (without throttling they will take several GB of disk space).
 * or simply, the active monitoring of a running system.
diff --git a/global_planner/src/planner_core.cpp b/global_planner/src/planner_core.cpp
@@ -250,7 +250,7 @@ bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geom
     double start_x, start_y, goal_x, goal_y;
 
     if (!costmap_->worldToMap(wx, wy, start_x_i, start_y_i)) {
-        ROS_WARN(
+        ROS_WARN_THROTTLE(1.0,
                 "The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?");
         return false;
     }
diff --git a/navfn/src/navfn_ros.cpp b/navfn/src/navfn_ros.cpp
@@ -226,7 +226,7 @@ namespace navfn {
 
     unsigned int mx, my;
     if(!costmap_->worldToMap(wx, wy, mx, my)){
-      ROS_WARN("The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?");
+      ROS_WARN_THROTTLE(1.0, "The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?");
       return false;
     }
 

Original file line number	Diff line number	Diff line change
`@@ -250,7 +250,7 @@ bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geom`
`250`	`250`	`double start_x, start_y, goal_x, goal_y;`
`251`	`251`
`252`	`252`	`if (!costmap_->worldToMap(wx, wy, start_x_i, start_y_i)) {`
`253`		`- ROS_WARN(`
	`253`	`+ ROS_WARN_THROTTLE(1.0,`
`254`	`254`	`"The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?");`
`255`	`255`	`return false;`
`256`	`256`	`}`
Original file line number	Diff line number	Diff line change
`@@ -226,7 +226,7 @@ namespace navfn {`
`226`	`226`
`227`	`227`	`unsigned int mx, my;`
`228`	`228`	`if(!costmap_->worldToMap(wx, wy, mx, my)){`
`229`		`- ROS_WARN("The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?");`
	`229`	`+ ROS_WARN_THROTTLE(1.0, "The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?");`
`230`	`230`	`return false;`
`231`	`231`	`}`
`232`	`232`