Fix the CM statistics async publish placement

[saikishor]

Right now, the image looks like below instead of the expected_total_time. inorder to fix it, we need to move the statistics publishing to the write callback part, and the other one is good at its place

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 89.57%. Comparing base (380622f) to head (f1f1cc9).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2865      +/-   ##
==========================================
+ Coverage   89.56%   89.57%   +0.01%     
==========================================
  Files         155      155              
  Lines       18105    18104       -1     
  Branches     1474     1474              
==========================================
+ Hits        16215    16217       +2     
+ Misses       1302     1300       -2     
+ Partials      588      587       -1     

Flag	Coverage Δ
unittests	89.57% <ø> (+0.01%)	⬆️

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Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	77.29% <ø> (+0.13%)	⬆️

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[christophfroehlich]

To understand that: We want to publish the data once per cm cycle, which is read-update-write-wait. And earlier this was updated in the update method, which means the data of the write were one cycle old?

[Juliaj]

To understand that: We want to publish the data once per cm cycle, which is read-update-write-wait. And earlier this was updated in the update method, which means the data of the write were one cycle old?

My interpretation is that we want to publish the data(_total_time) right after it is updated.

[Juliaj]

LGTM.

[saikishor]

To understand that: We want to publish the data once per cm cycle, which is read-update-write-wait. And earlier this was updated in the update method, which means the data of the write were one cycle old?

Yes, it was one cycle old, and that's why the visualization didn't add up