add ms in name

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

Author: a-maumau

perception/autoware_lidar_centerpoint/config/centerpoint_diagnostics.param.yaml

@@ -2,7 +2,7 @@
   ros__parameters:
     # When the processing time exceeds the max_allowed_processing_time,
     # a warning will be triggered.
-    max_allowed_processing_time: 200.0 # in milliseconds
+    max_allowed_processing_time_ms: 200.0 # in milliseconds
     # If the warning is triggered and if a timestamp of last normal processing is more than
     # max_acceptable_consecutive_delay_ms, an error diagnostic message will be sent.
     max_acceptable_consecutive_delay_ms: 1000.0

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp

@@ -59,7 +59,7 @@ class LidarCenterPointNode : public rclcpp::Node
   bool has_twist_{false};
 
   bool is_processing_delayed_{false};
-  double max_allowed_processing_time_;
+  double max_allowed_processing_time_ms_;
   double max_acceptable_consecutive_delay_ms_;
   // set optional to avoid sending the error diagnostics before node start processing
   std::optional<rclcpp::Time> last_normal_processing_timestamp_;

perception/autoware_lidar_centerpoint/src/node.cpp

@@ -113,7 +113,7 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
     std::make_unique<autoware_utils::DiagnosticsInterface>(this, "node_processing_time_status");
 
   // diagnostics parameters
-  max_allowed_processing_time_ = declare_parameter<double>("max_allowed_processing_time");
+  max_allowed_processing_time_ms_ = declare_parameter<double>("max_allowed_processing_time_ms");
   max_acceptable_consecutive_delay_ms_ =
     declare_parameter<double>("max_acceptable_consecutive_delay_ms");
   const long validation_callback_interval_ms =
@@ -202,13 +202,13 @@ void LidarCenterPointNode::pointCloudCallback(
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
 
     // check processing time is acceptable
-    if (processing_time_ms > max_allowed_processing_time_) {
+    if (processing_time_ms > max_allowed_processing_time_ms_) {
       diagnostics_interface_ptr_->add_key_value("is_processing_time_ms_in_expected_range", false);
 
       std::stringstream message;
       message << "CenterPoint processing time exceeds the acceptable limit of "
-              << max_allowed_processing_time_ << " ms by "
-              << (processing_time_ms - max_allowed_processing_time_) << " ms.";
+              << max_allowed_processing_time_ms_ << " ms by "
+              << (processing_time_ms - max_allowed_processing_time_ms_) << " ms.";
 
       diagnostics_interface_ptr_->update_level_and_message(
         diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());