Pointcloud processor pipeline shows huge publishing latency with no errors

[siddharth-w]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The crop_box_filter_self, crop_box_filter_mirror and distortion_corrector_node shows huge latency in subsequent message publish even though the
/pointcloud_raw_ex is getting published by the nebula_ros package with default frequency.
Following are the configuration and params with the behavior given in the "Actual behavior" section:

lidar.launch.xml :

vehicle_info.param.yaml :

vehicle_mirror.param.yaml

Expected behavior

Pointcloud pipeline has minimal latency

Actual behavior

As the crop_box_filter_self node doesnt take any other input so it shouldnt be related to the anything other than pointcloud input. Below is the actual behaviour:

pipeline_latency_ms :

ros2 topic echo /sensing/lidar/top/crop_box_filter_self/debug/pipeline_latency_ms
                                                                
stamp:
  sec: 1737126653
  nanosec: 337972075
data: 518.684237
---
stamp:
  sec: 1737126655
  nanosec: 381116577
data: 562.35845
---
stamp:
  sec: 1737126658
  nanosec: 205620609
data: 587.268885
---

processing_time_ms :

ros2 topic echo /sensing/lidar/top/crop_box_filter_self/debug/processing_time_ms 

stamp:
  sec: 1737126653
  nanosec: 337906384
data: 5.598
---
stamp:
  sec: 1737126655
  nanosec: 381072219
data: 5.79
---
stamp:
  sec: 1737126658
  nanosec: 205581197
data: 6.181
---

published timestamp

ros2 topic echo /sensing/lidar/top/self_cropped/pointcloud_ex/debug/published_time 
header:
  stamp:
    sec: 1737126652
    nanosec: 819285760
  frame_id: ''
published_stamp:
  sec: 1737126653
  nanosec: 338033688
---
header:
  stamp:
    sec: 1737126654
    nanosec: 818756096
  frame_id: ''
published_stamp:
  sec: 1737126655
  nanosec: 381204125
---
header:
  stamp:
    sec: 1737126657
    nanosec: 618349824
  frame_id: ''
published_stamp:
  sec: 1737126658
  nanosec: 205685058
---

The same behavior is carried forward till localization/util/downsample/pointcloud

Please help in an elaborated way :(

Steps to reproduce

1. Connect and configure the sensors and vehicle params
2. Launch autoware.launch.xml

Versions

OS: Ubuntu 22.04.5 LTS x86_64
ROS 2: Humble
Autoware: 0.39.0
Lidar: Velodyne VLP16
GPS: Ublox F9P
IMU: Zed2 camera IMU
CPU: Intel Xeon W-1390P (16) @ 5.100GHz
GPU: NVIDIA RTX A5000
GPU: Intel RocketLake-S GT1 [UHD Graphics P750]
Memory: 7548MiB / 64026MiB

Possible causes

No response

Additional context

No response