From 5b9fdca5351eccb5417b83a53cd9dae08a16285e Mon Sep 17 00:00:00 2001
From: Christophe Bedard <bedard.christophe@gmail.com>
Date: Mon, 15 Mar 2021 17:44:43 -0400
Subject: [PATCH] Add publishing instrumentation

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>
---
 rclcpp/include/rclcpp/publisher.hpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 14b2f333c1..f3fbc34faa 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -40,6 +40,8 @@
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "tracetools/tracetools.h"
+
 namespace rclcpp
 {
 
@@ -279,6 +281,10 @@ class Publisher : public PublisherBase
   void
   do_inter_process_publish(const MessageT & msg)
   {
+    TRACEPOINT(
+      rclcpp_publish,
+      static_cast<const void *>(publisher_handle_.get()),
+      static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {