VehicleCmdGate::publishControlCommands increases in cyclomatic complexity from 13 to 14, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

VehicleCmdGate::VehicleCmdGate increases from 159 to 160 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

LidarCenterPointNode::pointCloudCallback has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

LidarCenterPointNode::LidarCenterPointNode increases from 84 to 85 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

MapBasedPredictionNode::MapBasedPredictionNode increases from 84 to 85 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

MapBasedPredictionNode::objectsCallback increases in cyclomatic complexity from 36 to 37, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

ObjectAssociationMergerNode::objectsCallback increases in cyclomatic complexity from 19 to 20, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

ObstacleStopPlannerNode::ObstacleStopPlannerNode increases from 149 to 150 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

ObstacleStopPlannerNode::onTrigger increases in cyclomatic complexity from 16 to 18, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PlanningValidator::publishTrajectory has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PlanningValidator::publishTrajectory has 3 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

pointcloud_preprocessor::Filter::faster_input_indices_callback has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.