chore: fix the output order of the debug mode

Signed-off-by: vividf <[email protected]>

sensing/autoware_pointcloud_preprocessor/src/concatenate_data/cloud_collector.cpp

@@ -73,13 +73,8 @@ void CloudCollector::process_pointcloud(
 
 void CloudCollector::concatenate_callback()
 {
- // All pointclouds are received or the timer has timed out, cancel the timer and concatenate the
- // pointclouds in the collector.
- auto time_until_trigger = timer_->time_until_trigger();
- timer_->cancel();
-
- auto concatenated_cloud_result = concatenate_pointclouds(topic_to_cloud_map_);
  if (debug_mode_) {
+ auto time_until_trigger = timer_->time_until_trigger();
  std::stringstream log_stream;
  log_stream << std::fixed << std::setprecision(6);
  log_stream << "Collector's concatenate callback time: "
@@ -91,18 +86,24 @@ void CloudCollector::concatenate_callback()
  log_stream << "Time until trigger: " << (time_until_trigger.count() / 1e9) << " seconds\n";
 
  log_stream << "Pointclouds: [";
- for (auto it = concatenated_cloud_result.topic_to_original_stamp_map.begin();
- it != concatenated_cloud_result.topic_to_original_stamp_map.end(); ++it) {
- log_stream << "[" << it->first << ", " << it->second << "]";
- if (std::next(it) != concatenated_cloud_result.topic_to_original_stamp_map.end()) {
- log_stream << ", ";
- }
+ std::string separator = "";
+ for (const auto & [topic, cloud] : topic_to_cloud_map_) {
+ log_stream << separator;
+ log_stream << "[" << topic << ", " << rclcpp::Time(cloud->header.stamp).seconds() << "]";
+ separator = ", ";
  }
+
  log_stream << "]\n";
 
  RCLCPP_INFO(ros2_parent_node_->get_logger(), "%s", log_stream.str().c_str());
  }
 
+ // All pointclouds are received or the timer has timed out, cancel the timer and concatenate the
+ // pointclouds in the collector.
+ timer_->cancel();
+
+ auto concatenated_cloud_result = concatenate_pointclouds(topic_to_cloud_map_);
+
  ros2_parent_node_->publish_clouds(
  std::move(concatenated_cloud_result), reference_timestamp_min_, reference_timestamp_max_);