feat(velodyne_ros_wrapper): add profiling log to velodyne

[mebasoglu]

PR Type

• Improvement

Related Links

@mojomex created profiling scripts in this PR: #37

Description

Thanks to @mojomex, it is easy to measure performance of the driver. However the necessary logging code wasn't added for Velodyne. I added the logging to velodyne_decoder_ros_wrapper.cpp so that it is possible to use existing scripts to mesure process time for also Velodyne lidars.

Review Procedure

The only modification is on velodyne_decoder_ros_wrapper.cpp. I added logging code according to hesai_decoder_ros_wrapper.cpp.

After building the package, go to the scripts directory and run:

./profiling_runner.bash vlp16 -m VLP16 -b <your_bag_file_which_includes_/velodyne_packets>
./profiling_runner.bash vls128 -m VLS128 -b <your_bag_file_which_includes_/velodyne_packets>

python3 plot_times.py vlp16

Here is the result I got for VLP16 and VLS128:

	vlp16	vls128
d_total AVG	6.90601	30.3898
n_out AVG	15358.4	198887
d_total STD	2.60609	9.6811
n_out STD	103.414	87.4213
d_total AVG % rel to vlp16	100	440.048
n_out AVG % rel to vlp16	100	1294.97
d_total STD % rel to vlp16	100	371.479
n_out STD % rel to vlp16	100	84.5355

Remarks

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• Commits are properly organized and messages are according to the guideline
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• All open points are addressed and tracked via issues or tickets

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[codecov-commenter]

Codecov Report

Patch coverage has no change and project coverage change: -2.12% ⚠️

Comparison is base (8f33f79) 13.36% compared to head (ce320bd) 11.24%.

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Additional details and impacted files

@@            Coverage Diff             @@
##             main      #51      +/-   ##
==========================================
- Coverage   13.36%   11.24%   -2.12%     
==========================================
  Files         111       33      -78     
  Lines       10986     4623    -6363     
  Branches     1725     1145     -580     
==========================================
- Hits         1468      520     -948     
+ Misses       8342     3160    -5182     
+ Partials     1176      943     -233     

Flag	Coverage Δ
differential	11.24% <0.00%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Files Changed	Coverage Δ
..._ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp	0.00% <0.00%> (ø)

... and 78 files with indirect coverage changes

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