feat(velodyne_ros_wrapper): add profiling log to velodyne (#51)

Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]> Co-authored-by: David Wong <[email protected]> Co-authored-by: Abraham Monrroy Cano <[email protected]>
tier4 · Aug 21, 2023 · 5d4b39a · 5d4b39a
1 parent 8f33f79
commit 5d4b39a
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
@@ -43,6 +43,8 @@ VelodyneDriverRosWrapper::VelodyneDriverRosWrapper(const rclcpp::NodeOptions & o
 void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
   const velodyne_msgs::msg::VelodyneScan::SharedPtr scan_msg)
 {
+  auto t_start = std::chrono::high_resolution_clock::now();
+
   // take packets out of scan msg
   std::vector<velodyne_msgs::msg::VelodynePacket> pkt_msgs = scan_msg->packets;
 
@@ -85,6 +87,9 @@ void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
   }
+
+  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
+  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
 }
 
 void VelodyneDriverRosWrapper::PublishCloud(