planning: disable nudge decision by default.

modules/planning/common/planning_gflags.cc

@@ -103,7 +103,7 @@ DEFINE_double(stgraph_max_deceleration_divide_factor_level_2, 2.0,
               "The divide factor for max deceleration at level 2.");
 
 // Decision Part
-DEFINE_bool(enable_nudge_decision, true, "enable nudge decision");
+DEFINE_bool(enable_nudge_decision, false, "enable nudge decision");
 DEFINE_double(static_decision_ignore_s_range, 3.0,
               "threshold for judging nudge in dp path computing decision");
 DEFINE_double(static_decision_nudge_l_buffer, 0.5, "l buffer for nudge");

modules/planning/common/reference_line_info.cc

@@ -140,7 +140,7 @@ bool ReferenceLineInfo::IsOnLeftLane(const common::math::Vec2d& xy_point) {
   std::vector<hdmap::LaneInfoConstPtr> lanes;
   if (!pnc_map_->HDMap().GetLanes(common::util::MakePointENU(xy_point),
                                   distance, &lanes)) {
-    AERROR << "get lanes failed from point : " << xy_point.DebugString();
+    ADEBUG << "get lanes failed from point : " << xy_point.DebugString();
     return false;
   }
   std::unordered_set<std::string> lane_ids;

modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc

@@ -142,7 +142,7 @@ bool QpFrenetFrame::MapDynamicObstacleWithDecision(
     const PathObstacle& path_obstacle) {
   const Obstacle* ptr_obstacle = path_obstacle.Obstacle();
   if (!path_obstacle.HasLateralDecision()) {
-    AERROR << "object has no lateral decision";
+    ADEBUG << "object has no lateral decision";
     return false;
   }
   const auto& decision = path_obstacle.LateralDecision();
@@ -219,7 +219,7 @@ bool QpFrenetFrame::MapStaticObstacleWithDecision(
     const PathObstacle& path_obstacle) {
   const auto ptr_obstacle = path_obstacle.Obstacle();
   if (!path_obstacle.HasLateralDecision()) {
-    AERROR << "obstacle has no lateral decision";
+    ADEBUG << "obstacle has no lateral decision";
     return false;
   }
   const auto& decision = path_obstacle.LateralDecision();

modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc

@@ -297,11 +297,11 @@ bool QpSplinePathGenerator::AddConstraint(
     ADEBUG << "s:" << s << " boundary_low:" << boundary.first
            << " boundary_high:" << boundary.second
            << " road_boundary_low: " << road_boundary.first
-           << "road_boundary_high: " << road_boundary.second
+           << " road_boundary_high: " << road_boundary.second
            << " static_obs_boundary_low: " << static_obs_boundary.first
-           << "static_obs_boundary_high: " << static_obs_boundary.second
-           << "dynamic_obs_boundary_low: " << dynamic_obs_boundary.first
-           << "dynamic_obs_boundary_high: " << dynamic_obs_boundary.second;
+           << " static_obs_boundary_high: " << static_obs_boundary.second
+           << " dynamic_obs_boundary_low: " << dynamic_obs_boundary.first
+           << " dynamic_obs_boundary_high: " << dynamic_obs_boundary.second;
   }
   if (!spline_constraint->AddBoundary(evaluated_s_, boundary_low,
                                       boundary_high)) {