From 22a954e1b00ea2ba810666baa92a3c66fe1a8654 Mon Sep 17 00:00:00 2001
From: Christophe Bedard <christophe.bedard@apex.ai>
Date: Fri, 21 Jul 2023 11:26:42 -0700
Subject: [PATCH] Instrument loaned message publication code path (#2240)

Signed-off-by: Christophe Bedard <christophe.bedard@apex.ai>
---
 rclcpp/include/rclcpp/publisher.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 6025125db1..18229c7a4e 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -456,6 +456,7 @@ class Publisher : public PublisherBase
   do_loaned_message_publish(
     std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
   {
+    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(msg.get()));
     auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {