Merge branch 'main' into fix/distortion_corrector_node

Author: knzo25

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp

@@ -83,8 +83,8 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions &
   velocity_factor_publisher_ =
     this->create_publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>(
       "~/output/velocity_factors", 1);
-  processing_time_publisher_ = this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>(
-    "~/debug/total_time/processing_time_ms", 1);
+  processing_time_publisher_ =
+    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
 
   // Parameters
   smooth_velocity_before_planning_ = declare_parameter<bool>("smooth_velocity_before_planning");

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp

@@ -97,7 +97,8 @@ class MotionVelocityPlannerNode : public rclcpp::Node
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_viz_pub_;
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>::SharedPtr
     velocity_factor_publisher_;
-  autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{this};
+  autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{
+    this, "~/debug/processing_time_ms_diag"};
   rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_publisher_;
   autoware::universe_utils::PublishedTimePublisher published_time_publisher_{this};