refactor(planning_test_utils): add subscriber existance checker and t…

…opic name validation (#3462) * add subscriber existance checker and topic name validation Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change function structure Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete ASSERT_NO_THROW Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test files in motion_velocity_smoother and planning_validator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test files in obstacle_velocity_limiter, obstacle_stop_planner and obstacle_velocity_limiter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test files in scenario_selector Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test files in freespace_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test files in behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Remove ament_cmake_gtest dependency from the planning_test_utils package Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Apr 27, 2023 · 855188a · 855188a
1 parent 0f8d3c4
commit 855188a
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Showing 12 changed files with 271 additions and 318 deletions.
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -100,7 +100,7 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
   // test with empty route
-  test_manager->testWithAbnormalRoute(test_target_node);
+  ASSERT_NO_THROW(test_manager->testWithAbnormalRoute(test_target_node));
   rclcpp::shutdown();
 }
 

diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -28,18 +28,14 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
   auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
-
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
-
   const auto freespace_planner_dir =
     ament_index_cpp::get_package_share_directory("freespace_planner");
-
   node_options.arguments(
     {"--ros-args", "--params-file",
      planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
      freespace_planner_dir + "/config/freespace_planner.param.yaml"});
-
   auto test_target_node = std::make_shared<freespace_planner::FreespacePlannerNode>(node_options);
 
   // publish necessary topics from test_manager
@@ -59,5 +55,5 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
   // test with empty route
-  test_manager->testWithAbnormalRoute(test_target_node);
+  ASSERT_NO_THROW(test_manager->testWithAbnormalRoute(test_target_node));
 }
diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -28,16 +28,12 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
   auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
-
   node_options.append_parameter_override("algorithm_type", "JerkFiltered");
   node_options.append_parameter_override("publish_debug_trajs", false);
-
-  const auto motion_velocity_smoother_dir =
-    ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
-
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
-
+  const auto motion_velocity_smoother_dir =
+    ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
   node_options.arguments(
     {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
      "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
@@ -66,5 +62,5 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
   // test for trajectory with empty/one point/overlapping point
-  test_manager->testWithAbnormalTrajectory(test_target_node);
+  ASSERT_NO_THROW(test_manager->testWithAbnormalTrajectory(test_target_node));
 }
diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -28,20 +28,16 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
   auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
-
   const auto obstacle_cruise_planner_dir =
     ament_index_cpp::get_package_share_directory("obstacle_cruise_planner");
-
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
-
   node_options.arguments(
     {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
      "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
      "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
      "--params-file", obstacle_cruise_planner_dir + "/config/default_common.param.yaml",
      "--params-file", obstacle_cruise_planner_dir + "/config/obstacle_cruise_planner.param.yaml"});
-
   auto test_target_node =
     std::make_shared<motion_planning::ObstacleCruisePlannerNode>(node_options);
 
@@ -58,9 +54,8 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 
   // test for normal trajectory
   ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node));
-
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
   // test for trajectory with empty/one point/overlapping point
-  test_manager->testWithAbnormalTrajectory(test_target_node);
+  ASSERT_NO_THROW(test_manager->testWithAbnormalTrajectory(test_target_node));
 }
diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -45,7 +45,8 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 
   // publish necessary topics from test_manager
   test_manager->publishOdometry(test_target_node, "obstacle_velocity_limiter/input/odometry");
-  test_manager->publishPointCloud(test_target_node, "obstacle_velocity_limiter/input/pointcloud");
+  test_manager->publishPointCloud(
+    test_target_node, "obstacle_velocity_limiter/input/obstacle_pointcloud");
   test_manager->publishOccupancyGrid(
     test_target_node, "obstacle_velocity_limiter/input/occupancy_grid");
   test_manager->publishPredictedObjects(
@@ -64,5 +65,5 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
   // test for trajectory with empty/one point/overlapping point
-  test_manager->testWithAbnormalTrajectory(test_target_node);
+  ASSERT_NO_THROW(test_manager->testWithAbnormalTrajectory(test_target_node));
 }
diff --git a/...ng_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp b/...ng_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -90,11 +90,10 @@ class PlanningInterfaceTestManager
 public:
   PlanningInterfaceTestManager();
 
-  void publishOdometry(rclcpp::Node::SharedPtr target_node);
   void publishOdometry(rclcpp::Node::SharedPtr target_node, std::string topic_name);
 
-  void publishInitialPose(rclcpp::Node::SharedPtr target_node);
-  void publishInitialPose(rclcpp::Node::SharedPtr target_node, std::string topic_name);
+  void publishInitialPose(
+    rclcpp::Node::SharedPtr target_node, std::string topic_name, const double shift = 0.0);
 
   void publishMaxVelocity(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishPointCloud(rclcpp::Node::SharedPtr target_node, std::string topic_name);
@@ -119,8 +118,6 @@ class PlanningInterfaceTestManager
   void publishExternalCrosswalkStates(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishExternalIntersectionStates(
     rclcpp::Node::SharedPtr target_node, std::string topic_name);
-  void publishInitialPoseData(
-    rclcpp::Node::SharedPtr target_node, std::string topic_name, double shift = 0.0);
 
   void setTrajectoryInputTopicName(std::string topic_name);
   void setParkingTrajectoryInputTopicName(std::string topic_name);