Where is the publisher of velodyne_node in Autoware?

asked 2020-12-20 10:16:08 -0600

runtao gravatar image

updated 2020-12-20 10:20:57 -0600

I'm trying to use std:chrono to measure the latency of Lidar Object Detection Stack in Autoware.auto. velodyne_node serves as the first node in Lidar Stack, in which I want to find the loop of each message publication to insert my code for logging time. However, I couldn't find any publication related code like create_publisher()orpublish()in velodyne_node. But it did publish sensor_msgs::msg::PointCloud2 messages to the topic /lidar_front/points_raw.

Did I miss something? Where could I find the publication related code of velodyne_node? Thanks!

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