diff --git a/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.cpp b/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.cpp
index 58043b70..f7ef679f 100644
--- a/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.cpp
+++ b/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.cpp
@@ -57,7 +57,7 @@ bool LinuxProcessCpuMeasurementNode::SetupStart()
 
 double LinuxProcessCpuMeasurementNode::PeriodicMeasurement()
 {
-  const ProcPidCpuData current_measurement = MeasurePidCpuTime();
+  const auto current_measurement = MeasurePidCpuTime();
 
   const auto cpu_percentage = ComputePidCpuActivePercentage(last_measurement_, current_measurement);
 
diff --git a/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.hpp b/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.hpp
index 02de4f72..3dc9eda0 100644
--- a/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.hpp
+++ b/system_metrics_collector/src/system_metrics_collector/linux_process_cpu_measurement_node.hpp
@@ -20,9 +20,9 @@
 #include <string>
 #include <tuple>
 
-#include "../../src/system_metrics_collector/periodic_measurement_node.hpp"
-#include "../../src/system_metrics_collector/proc_cpu_data.hpp"
-#include "../../src/system_metrics_collector/utilities.hpp"
+#include "periodic_measurement_node.hpp"
+#include "proc_cpu_data.hpp"
+#include "utilities.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 #include "rcutils/logging_macros.h"
diff --git a/system_metrics_collector/src/system_metrics_collector/main.cpp b/system_metrics_collector/src/system_metrics_collector/main.cpp
index 4cc7254b..b3871e9c 100644
--- a/system_metrics_collector/src/system_metrics_collector/main.cpp
+++ b/system_metrics_collector/src/system_metrics_collector/main.cpp
@@ -34,6 +34,17 @@ constexpr const std::chrono::seconds kDefaultCollectPeriod{1};
 constexpr const std::chrono::minutes kDefaultPublishPeriod{1};
 }  // namespace
 
+void set_node_to_debug(
+  const system_metrics_collector::PeriodicMeasurementNode * node,
+  const char * node_type)
+{
+  const auto r = rcutils_logging_set_logger_level(node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
+  if (r != 0) {
+    RCUTILS_LOG_ERROR_NAMED("main", "Unable to set debug logging for the %s node: %s\n", node_type,
+      rcutils_get_error_string().str);
+  }
+}
+
 /**
  * This is current a "test" main in order to manually test the measurement nodes.
  *
@@ -62,14 +73,14 @@ int main(int argc, char ** argv)
     std::make_shared<system_metrics_collector::LinuxProcessCpuMeasurementNode>(
     "linuxProcessCpuCollector",
     kDefaultCollectPeriod,
-    "not_publishing_yet",
+    kStatisticsTopicName,
     kDefaultPublishPeriod);
 
   const auto process_mem_node =
     std::make_shared<system_metrics_collector::LinuxProcessMemoryMeasurementNode>(
     "linuxProcessMemoryCollector",
     kDefaultCollectPeriod,
-    "not_publishing_yet",
+    kStatisticsTopicName,
     kDefaultPublishPeriod);
 
   rclcpp::executors::MultiThreadedExecutor ex;
@@ -78,42 +89,10 @@ int main(int argc, char ** argv)
   process_cpu_node->Start();
   process_mem_node->Start();
 
-  {
-    const auto r =
-      rcutils_logging_set_logger_level(cpu_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
-    if (r != 0) {
-      RCUTILS_LOG_ERROR_NAMED("main", "Unable to set debug logging for the cpu node: %s\n",
-        rcutils_get_error_string().str);
-    }
-  }
-  {
-    const auto r =
-      rcutils_logging_set_logger_level(mem_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
-    if (r != 0) {
-      RCUTILS_LOG_ERROR_NAMED("main", "Unable to set debug logging for the memory node: %s\n",
-        rcutils_get_error_string().str);
-    }
-  }
-  {
-    const auto r = rcutils_logging_set_logger_level(
-      process_cpu_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
-
-    if (r != 0) {
-      RCUTILS_LOG_ERROR_NAMED("main",
-        "Unable to set debug logging for the process cpu node: %s\n",
-        rcutils_get_error_string().str);
-    }
-  }
-  {
-    const auto r = rcutils_logging_set_logger_level(
-      process_mem_node->get_name(), RCUTILS_LOG_SEVERITY_DEBUG);
-
-    if (r != 0) {
-      RCUTILS_LOG_ERROR_NAMED("main",
-        "Unable to set debug logging for the process memory node: %s\n",
-        rcutils_get_error_string().str);
-    }
-  }
+  set_node_to_debug(cpu_node.get(), "cpu");
+  set_node_to_debug(mem_node.get(), "memory");
+  set_node_to_debug(process_cpu_node.get(), "process cpu");
+  set_node_to_debug(process_mem_node.get(), "process memory");
 
   ex.add_node(cpu_node);
   ex.add_node(mem_node);
diff --git a/system_metrics_collector/test/system_metrics_collector/test_linux_process_cpu_measurement_node.cpp b/system_metrics_collector/test/system_metrics_collector/test_linux_process_cpu_measurement_node.cpp
index 6f1fe243..96294be6 100644
--- a/system_metrics_collector/test/system_metrics_collector/test_linux_process_cpu_measurement_node.cpp
+++ b/system_metrics_collector/test/system_metrics_collector/test_linux_process_cpu_measurement_node.cpp
@@ -15,8 +15,8 @@
 #include <gtest/gtest.h>
 
 #include <cmath>
-#include <memory>
 #include <fstream>
+#include <memory>
 #include <string>
 #include <tuple>
 #include <unordered_map>
@@ -52,11 +52,23 @@ class TestLinuxProcessCpuMeasurementNode : public system_metrics_collector::
     const std::chrono::milliseconds publish_period)
   : LinuxProcessCpuMeasurementNode(name, measurement_period, topic, publish_period) {}
 
+  /**
+   * Exposes the protected member function for testing purposes.
+   * See description for LinuxProcessCpuMeasurementNode::PeriodicMeasurement().
+   *
+   * @return percentage of CPU this process used
+   */
   double PeriodicMeasurement() override
   {
     LinuxProcessCpuMeasurementNode::PeriodicMeasurement();
   }
 
+  /**
+   * Exposes the protected member function for testing purposes.
+   * See description for LinuxProcessCpuMeasurementNode::GetMetricName().
+   *
+   * @return a string of the name for this measured metric
+   */
   std::string GetMetricName() const override
   {
     return LinuxProcessCpuMeasurementNode::GetMetricName();
@@ -84,13 +96,20 @@ class TestReceiveProcessCpuMeasurementNode : public rclcpp::Node
 private:
   void MetricsMessageCallback(const MetricsMessage & msg) const
   {
+    // Given kPublishPeriod is 80 ms and kTestDuration is 250 ms, the expectation is:
+    // MetricsMessages are published/received at 80 ms, 160 ms, and 240 ms during the first round.
+    // The TestLinuxProcessCpuMeasurementNode is then stopped and restarted and again
+    // MetricsMessages are published/received at 80 ms, 160 ms, and 240 ms during the second round.
+    // This means that no more than 6 MetricsMessages are received.
     ASSERT_GT(6, times_received_);
 
     // check source names
     EXPECT_EQ(kTestNodeName, msg.measurement_source_name);
     EXPECT_EQ(expected_metric_name_, msg.metrics_source);
 
-    // check measurements
+    // Check measurements.
+    // There are five types of statistics:
+    // average, maximum, minimum, standard deviation, number of samples
     EXPECT_EQ(5, msg.statistics.size());
 
     for (const StatisticDataPoint & stat : msg.statistics) {