Statistics of Pipeline Latency is negative

[HaochunLiang]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

I subscribed to some pipeline_latency topics in autoware and found that most of the measured data are negative.

/localization/util/crop_box_filter_measurement_range/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/object_recognition/detection/centerpoint/lidar_centerpoint/debug/pipeline_latency_ms [tier4_debug_msgs/msg/Float64Stamped]
/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/object_recognition/detection/object_lanelet_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/object_recognition/detection/obstacle_pointcloud_based_validator/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/object_recognition/tracking/multi_object_tracker/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/obstacle_segmentation/crop_box_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/occupancy_grid_map/obstacle_pc_downsample_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/perception/occupancy_grid_map/raw_pc_downsample_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/concatenate_data_synchronizer/debug/sensing/lidar/left/pointcloud_before_sync/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/concatenate_data_synchronizer/debug/sensing/lidar/right/pointcloud_before_sync/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/concatenate_data_synchronizer/debug/sensing/lidar/top/pointcloud_before_sync/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/left/crop_box_filter_mirror/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/left/crop_box_filter_self/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/left/distortion_corrector/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/left/ring_outlier_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/right/crop_box_filter_mirror/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/right/crop_box_filter_self/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/right/distortion_corrector/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/right/ring_outlier_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/top/crop_box_filter_mirror/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/top/crop_box_filter_self/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/top/distortion_corrector/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]
/sensing/lidar/top/ring_outlier_filter/debug/pipeline_latency_ms [autoware_internal_debug_msgs/msg/Float64Stamped]

Expected behavior

In these topics, data represents the latency of the pipeline, and the value of data should be greater than 0.

however, the output is show as:

neu@neu-System:~/autoware$ ros2 topic echo /sensing/lidar/right/ring_outlier_filter/debug/pipeline_latency_ms
stamp:
sec: 1019
nanosec: 862422754
data: 78.922266

stamp:
sec: 1019
nanosec: 972554214
data: 89.053709

stamp:
sec: 1019
nanosec: 989221965
data: 5.721444

stamp:
sec: 1020
nanosec: 154875159
data: 71.374621

stamp:
sec: 1020
nanosec: 188212470
data: 4.711916

stamp:
sec: 1020
nanosec: 271937311
data: -11.563259

stamp:
sec: 1020
nanosec: 376267184
data: -7.233403

stamp:
sec: 1020
nanosec: 540272659
data: 56.772056

stamp:
sec: 1020
nanosec: 577166436
data: -6.334183

stamp:
sec: 1020
nanosec: 667440137
data: -16.060499

stamp:
sec: 1020
nanosec: 780148644
data: -3.352008

stamp:
sec: 1020
nanosec: 872829986
data: -10.670683

stamp:
sec: 1020
nanosec: 971392779
data: -12.107906

stamp:
sec: 1021
nanosec: 70085170
data: -13.415531

stamp:
sec: 1021
nanosec: 182735255
data: -0.765463

Actual behavior

some of these data value is negative

Steps to reproduce

1. run autoware with awsim_lab
2. ros2 topic echo /sensing/lidar/right/ring_outlier_filter/debug/pipeline_latency_ms
3. some of data in message is negative

Versions

• OS: ubuntu 22.04
• Autoware : main
• ROS2: humble

Possible causes

No response

Additional context

No response