feat: add header and pid fields to msg

Signed-off-by: Mehmet Emin BAŞOĞLU <memin@leodrive.ai>

Author: Mehmet Emin BAŞOĞLU

system/autoware_component_monitor/src/component_monitor_node.cpp

@@ -17,6 +17,7 @@ ComponentMonitor::ComponentMonitor(const rclcpp::NodeOptions & node_options)
   }
 
   pid_ = getpid();
+  usage_msg_.pid = pid_;
 }
 
 void ComponentMonitor::timer_callback()
@@ -25,6 +26,15 @@ void ComponentMonitor::timer_callback()
 
   get_cpu_usage();
   get_mem_usage();
+  publish();
+}
+
+void ComponentMonitor::publish()
+{
+  std_msgs::msg::Header header;
+  header.stamp = now();
+  header.frame_id = "component_monitor";
+  usage_msg_.header = header;
   usage_pub_->publish(usage_msg_);
 }
 

system/autoware_component_monitor/src/component_monitor_node.hpp

@@ -3,6 +3,7 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_internal_msgs/msg/system_usage.hpp"
+#include "std_msgs/msg/header.hpp"
 
 #include "boost/filesystem.hpp"
 #include "boost/process.hpp"
@@ -20,6 +21,7 @@ class ComponentMonitor : public rclcpp::Node
 
 private:
   void timer_callback();
+  void publish();
   std::stringstream run_command(const std::string & cmd) const;
   static std::vector<std::string> get_fields(std::stringstream & std_out);
   static float to_float(const std::string & str);