feat: Small cleanup

ruvu_mcl/src/particle_filter.cpp

@@ -2,11 +2,14 @@
 
 #include "./particle_filter.hpp"
 
-#include "algorithm"
+#include <algorithm>
+#include <string>
+
 #include "ros/console.h"
-#include "string"
 #include "tf2/utils.h"
 
+constexpr auto name = "particle_filter";
+
 void ParticleFilter::normalize_weights()
 {
   double total_weight = 0;
@@ -26,7 +29,8 @@ void ParticleFilter::normalize_weights(double total_weight)
     // total_weight could be 0 due to very strange data input. We should print an error and
     // continue. If total_weight is negative or NaN, there is a bigger problem.
     assert(total_weight == 0);
-    ROS_ERROR(
+    ROS_ERROR_NAMED(
+      name,
       "Total weight of particles is 0. This probably means there is a bug in one of the sensor "
       "models or they are configured incorrectly. Resetting particles to uniform weight "
       "distribution");