chore(image_projection_based_fusion): change to throttle log (autowar…

…efoundation#4572) * fix(image_projection_based_fusion): fix to throttle log Signed-off-by: Makoto Kurihara <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Makoto Kurihara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
leo-drive · Aug 16, 2023 · d91d905 · d91d905
1 parent bc9063e
commit d91d905
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -205,7 +205,8 @@ void FusionNode<Msg, Obj>::subCallback(const typename Msg::ConstSharedPtr input_
   // if matching rois exist, fuseOnSingle
   for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) {
     if (camera_info_map_.find(roi_i) == camera_info_map_.end()) {
-      RCLCPP_WARN(this->get_logger(), "no camera info. id is %zu", roi_i);
+      RCLCPP_WARN_THROTTLE(
+        this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i);
       continue;
     }
 
@@ -298,7 +299,8 @@ void FusionNode<Msg, Obj>::roiCallback(
 
     if (interval < match_threshold_ms_ * (int64_t)1e6 && is_fused_.at(roi_i) == false) {
       if (camera_info_map_.find(roi_i) == camera_info_map_.end()) {
-        RCLCPP_WARN(this->get_logger(), "no camera info. id is %zu", roi_i);
+        RCLCPP_WARN_THROTTLE(
+          this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i);
         (roi_stdmap_.at(roi_i))[timestamp_nsec] = input_roi_msg;
         return;
       }