fix member variable type and error logs

Signed-off-by: ismetatabay <[email protected]>
autowarefoundation · Aug 2, 2024 · 136a5ff · 136a5ff
1 parent 6dce598
commit 136a5ff
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp
@@ -95,7 +95,7 @@ class TrtYoloXNode : public rclcpp::Node
   bool is_roi_overlap_segment_;
   bool is_publish_color_mask_;
   float overlap_roi_score_threshold_;
-  int gpu_id_;
+  uint8_t gpu_id_;
   // TODO(badai-nguyen): change to function
   std::map<std::string, int> remap_roi_to_semantic_ = {
     {"UNKNOWN", 3},     // other

diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp
@@ -134,7 +134,8 @@ void TrtYoloXNode::onConnect()
 void TrtYoloXNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
   if (!setCudaDeviceId(gpu_id_)) {
-    RCLCPP_ERROR(this->get_logger(), "GPU %d does not exist or is not suitable.", gpu_id_);
+    RCLCPP_ERROR_THROTTLE(
+      get_logger(), *get_clock(), 2000, "GPU %d does not exist or is not suitable.", gpu_id_);
     return;
   }
 
@@ -230,7 +231,8 @@ bool TrtYoloXNode::setCudaDeviceId(const int gpu_id)
 {
   cudaError_t cuda_err = cudaSetDevice(gpu_id);
   if (cuda_err != cudaSuccess) {
-    RCLCPP_ERROR(this->get_logger(), "Failed to set gpu device with id: %d ", gpu_id);
+    RCLCPP_ERROR_THROTTLE(
+      get_logger(), *get_clock(), 2000, "Failed to set gpu device with id: %d ", gpu_id);
     return false;
   } else {
     return true;