From 9a116bae63b78c2e618e8d15f83757ba5ad9d29a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 13:19:39 +0900 Subject: [PATCH] refactor(behavior_path_planner): align processing time topic name (#5281) Signed-off-by: satoshi-ota --- planning/behavior_path_planner/src/planner_manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 24967608775f3..d0e55ffa574fd 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -35,7 +35,7 @@ PlannerManager::PlannerManager(rclcpp::Node & node, const bool verbose) verbose_{verbose} { processing_time_.emplace("total_time", 0.0); - debug_publisher_ptr_ = std::make_unique(&node, "behavior_planner_manager/debug"); + debug_publisher_ptr_ = std::make_unique(&node, "~/debug"); } BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & data) @@ -894,7 +894,7 @@ void PlannerManager::print() const void PlannerManager::publishProcessingTime() const { for (const auto & t : processing_time_) { - std::string name = std::string("processing_time/") + t.first; + std::string name = t.first + std::string("/processing_time_ms"); debug_publisher_ptr_->publish(name, t.second); } }