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perception/lidar_centerpoint/src
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lines changed Original file line number Diff line number Diff line change @@ -169,10 +169,17 @@ void LidarCenterPointNode::pointCloudCallback(
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if (debug_publisher_ptr_ && stop_watch_ptr_) {
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const double cyclic_time_ms = stop_watch_ptr_->toc (" cyclic_time" , true );
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const double processing_time_ms = stop_watch_ptr_->toc (" processing_time" , true );
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+ const double pipeline_latency_ms =
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+ std::chrono::duration<double , std::milli>(
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+ std::chrono::nanoseconds (
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+ (this ->get_clock ()->now () - output_msg.header .stamp ).nanoseconds ()))
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+ .count ();
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debug_publisher_ptr_->publish <tier4_debug_msgs::msg::Float64Stamped>(
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" debug/cyclic_time_ms" , cyclic_time_ms);
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debug_publisher_ptr_->publish <tier4_debug_msgs::msg::Float64Stamped>(
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" debug/processing_time_ms" , processing_time_ms);
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+ debug_publisher_ptr_->publish <tier4_debug_msgs::msg::Float64Stamped>(
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+ " debug/pipeline_latency_ms" , pipeline_latency_ms);
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}
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}
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