fix(motion_planning): fix processing time topic names (autowarefounda…

…tion#7885) Signed-off-by: Maxime CLEMENT <[email protected]>
tier4 · Jul 8, 2024 · 6432259 · 6432259
1 parent 46b1873
commit 6432259
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/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");

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/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};