feat: update pcd package

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp

@@ -61,7 +61,7 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter(
     return;
   }
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);

perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp

@@ -60,7 +60,7 @@ void VoxelBasedCompareMapFilterComponent::filter(
     return;
   }
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);

perception/lidar_apollo_instance_segmentation/src/node.cpp

@@ -46,7 +46,7 @@ void LidarInstanceSegmentationNode::pointCloudCallback(
   const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
 {
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);

perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

@@ -230,7 +230,7 @@ void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2(
     return;
   }
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp

@@ -73,6 +73,9 @@
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tier4_debug_msgs/msg/int32_stamped.hpp>
 #include <tier4_debug_msgs/msg/string_stamped.hpp>
+#include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/system/stop_watch.hpp>
+
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>
@@ -165,6 +168,11 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
   void timer_callback();
 
   void checkConcatStatus(diagnostic_updater::DiagnosticStatusWrapper & stat);
+
+  /** \brief processing time publisher. **/
+  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+
 };
 
 }  // namespace pointcloud_preprocessor

sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp

@@ -69,6 +69,15 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro
   const rclcpp::NodeOptions & node_options)
 : Node("point_cloud_concatenator_component", node_options)
 {
+  // initialize debug tool
+  {
+    using tier4_autoware_utils::DebugPublisher;
+    using tier4_autoware_utils::StopWatch;
+    stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
+    debug_publisher_ = std::make_unique<DebugPublisher>(this, "concatenate_data_synchronizer");
+    stop_watch_ptr_->tic();
+  }
+
   // Set parameters
   {
     output_frame_ = static_cast<std::string>(declare_parameter("output_frame", ""));
@@ -260,6 +269,12 @@ void PointCloudConcatenateDataSynchronizerComponent::combineClouds(
 
 void PointCloudConcatenateDataSynchronizerComponent::publish()
 {
+  // add processing time for debug
+  if (debug_publisher_) {
+    const double processing_time_ms = stop_watch_ptr_->toc(true);
+    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+      "debug/processing_time_ms", processing_time_ms);
+  }
   sensor_msgs::msg::PointCloud2::SharedPtr concat_cloud_ptr_ = nullptr;
   not_subscribed_topic_names_.clear();
 

sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp

@@ -101,7 +101,7 @@ void CropBoxFilterComponent::filter(
 {
   std::scoped_lock lock(mutex_);
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);

sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

@@ -79,7 +79,7 @@ void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr points_ms
   }
 
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);

sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp

@@ -49,7 +49,7 @@ void RingOutlierFilterComponent::filter(
 {
   std::scoped_lock lock(mutex_);
   // add processing time for debug
-  if (stop_watch_ptr_) {
+  if (debug_publisher_) {
     const double processing_time_ms = stop_watch_ptr_->toc(true);
     debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);