feat(autoware_planning_test_manager): porting autoware_planning_test_manager package from autoware.universe

testing/autoware_planning_test_manager/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_planning_test_manager)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_planning_test_manager SHARED
+  src/autoware_planning_test_manager.cpp
+)
+
+ament_auto_package()

testing/autoware_planning_test_manager/README.md

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+# Autoware Planning Test Manager
+
+## Background
+
+In each node of the planning module, when exceptional input, such as unusual routes or significantly deviated ego-position, is given, the node may not be prepared for such input and could crash. As a result, debugging node crashes can be time-consuming. For example, if an empty trajectory is given as input and it was not anticipated during implementation, the node might crash due to the unaddressed exceptional input when changes are merged, during scenario testing or while the system is running on an actual vehicle.
+
+## Purpose
+
+The purpose is to provide a utility for implementing tests to ensure that node operates correctly when receiving exceptional input. By utilizing this utility and implementing tests for exceptional input, the purpose is to reduce bugs that are only discovered when actually running the system, by requiring measures for exceptional input before merging PRs.
+
+## Features
+
+### Confirmation of normal operation
+
+For the test target node, confirm that the node operates correctly and publishes the required messages for subsequent nodes. To do this, test_node publish the necessary messages and confirm that the node's output is being published.
+
+### Robustness confirmation for special inputs
+
+After confirming normal operation, ensure that the test target node does not crash when given exceptional input. To do this, provide exceptional input from the test_node and confirm that the node does not crash.
+
+(WIP)
+
+## Usage
+
+```cpp
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
+{
+  rclcpp::init(0, nullptr);
+
+  // instantiate test_manager with PlanningInterfaceTestManager type
+  auto test_manager = std::make_shared<autoware::planning_test_manager::PlanningInterfaceTestManager>();
+
+  // get package directories for necessary configuration files
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
+  const auto target_node_dir =
+    ament_index_cpp::get_package_share_directory("target_node");
+
+  // set arguments to get the config file
+  node_options.arguments(
+    {"--ros-args", "--params-file",
+     autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     autoware_planning_validator_dir + "/config/planning_validator.param.yaml"});
+
+  // instantiate the TargetNode with node_options
+  auto test_target_node = std::make_shared<TargetNode>(node_options);
+
+  // publish the necessary topics from test_manager second argument is topic name
+  test_manager->publishOdometry(test_target_node, "/localization/kinematic_state");
+  test_manager->publishMaxVelocity(
+    test_target_node, "velocity_smoother/input/external_velocity_limit_mps");
+
+  // set scenario_selector's input topic name(this topic is changed to test node)
+  test_manager->setTrajectoryInputTopicName("input/parking/trajectory");
+
+  // test with normal trajectory
+  ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node));
+
+  // make sure target_node is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with trajectory input with empty/one point/overlapping point
+  ASSERT_NO_THROW(test_manager->testWithAbnormalTrajectory(test_target_node));
+
+  // shutdown ROS context
+  rclcpp::shutdown();
+}
+```
+
+## Implemented tests
+
+| Node                        | Test name                                                                                 | exceptional input | output         | Exceptional input pattern                                                             |
+| --------------------------- | ----------------------------------------------------------------------------------------- | ----------------- | -------------- | ------------------------------------------------------------------------------------- |
+| autoware_planning_validator | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| velocity_smoother           | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| obstacle_cruise_planner     | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| obstacle_stop_planner       | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| obstacle_velocity_limiter   | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| path_optimizer              | NodeTestWithExceptionTrajectory                                                           | trajectory        | trajectory     | Empty, single point, path with duplicate points                                       |
+| scenario_selector           | NodeTestWithExceptionTrajectoryLaneDrivingMode NodeTestWithExceptionTrajectoryParkingMode | trajectory        | scenario       | Empty, single point, path with duplicate points for scenarios:LANEDRIVING and PARKING |
+| freespace_planner           | NodeTestWithExceptionRoute                                                                | route             | trajectory     | Empty route                                                                           |
+| behavior_path_planner       | NodeTestWithExceptionRoute NodeTestWithOffTrackEgoPose                                    | route             | route odometry | Empty route Off-lane ego-position                                                     |
+| behavior_velocity_planner   | NodeTestWithExceptionPathWithLaneID                                                       | path_with_lane_id | path           | Empty path                                                                            |
+
+## Important Notes
+
+During test execution, when launching a node, parameters are loaded from the parameter file within each package. Therefore, when adding parameters, it is necessary to add the required parameters to the parameter file in the target node package. This is to prevent the node from being unable to launch if there are missing parameters when retrieving them from the parameter file during node launch.
+
+## Future extensions / Unimplemented parts
+
+(WIP)

testing/autoware_planning_test_manager/include/autoware/planning_test_manager/autoware_planning_test_manager.hpp

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+// 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
+#define AUTOWARE__PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
+
+// since ASSERT_NO_THROW in gtest masks the exception message, redefine it.
+#define ASSERT_NO_THROW_WITH_ERROR_MSG(statement)                                                \
+  try {                                                                                          \
+    statement;                                                                                   \
+    SUCCEED();                                                                                   \
+  } catch (const std::exception & e) {                                                           \
+    FAIL() << "Expected: " << #statement                                                         \
+           << " doesn't throw an exception.\nActual: it throws. Error message: " << e.what()     \
+           << std::endl;                                                                         \
+  } catch (...) {                                                                                \
+    FAIL() << "Expected: " << #statement                                                         \
+           << " doesn't throw an exception.\nActual: it throws. Error message is not available." \
+           << std::endl;                                                                         \
+  }
+
+#include <autoware/component_interface_specs/planning.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+
+#include <gtest/gtest.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <ctime>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::planning_test_manager
+{
+class PlanningInterfaceTestManager
+{
+public:
+  PlanningInterfaceTestManager();
+
+  template <typename InputT>
+  void publishInput(
+    const rclcpp::Node::SharedPtr target_node, const std::string & topic_name, const InputT & input,
+    const int repeat_count = 3) const
+  {
+    autoware::test_utils::publishToTargetNode(
+      test_node_, target_node, topic_name, {}, input, repeat_count);
+  }
+
+  template <typename OutputT>
+  void subscribeOutput(const std::string & topic_name)
+  {
+    const auto qos = []() {
+      if constexpr (std::is_same_v<OutputT, autoware_planning_msgs::msg::Trajectory>) {
+        return rclcpp::QoS{1};
+      }
+      return rclcpp::QoS{10};
+    }();
+
+    test_output_subs_.push_back(test_node_->create_subscription<OutputT>(
+      topic_name, qos, [this](const typename OutputT::ConstSharedPtr) { received_topic_num_++; }));
+  }
+
+  void testWithNormalTrajectory(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+  void testWithAbnormalTrajectory(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void testWithNormalRoute(rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+  void testWithAbnormalRoute(rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void testWithBehaviorNormalRoute(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void testWithNormalPathWithLaneId(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+  void testWithAbnormalPathWithLaneId(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void testWithNormalPath(rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+  void testWithAbnormalPath(rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void testWithOffTrackInitialPoses(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void testWithOffTrackOdometry(
+    rclcpp::Node::SharedPtr target_node, const std::string & topic_name);
+
+  void resetReceivedTopicNum() { received_topic_num_ = 0; }
+
+  size_t getReceivedTopicNum() const { return received_topic_num_; }
+
+  rclcpp::Node::SharedPtr getTestNode() const { return test_node_; }
+
+private:
+  // Subscriber
+  std::vector<rclcpp::SubscriptionBase::SharedPtr> test_output_subs_;
+
+  // Node
+  rclcpp::Node::SharedPtr test_node_;
+
+  size_t received_topic_num_ = 0;
+};  // class PlanningInterfaceTestManager
+
+}  // namespace autoware::planning_test_manager
+
+#endif  // AUTOWARE__PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_

testing/autoware_planning_test_manager/include/autoware/planning_test_manager/autoware_planning_test_manager_utils.hpp

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+// Copyright 2024 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
+#define AUTOWARE__PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
+#include <autoware/route_handler/route_handler.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+#include <autoware_utils/geometry/geometry.hpp>
+
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware_planning_test_manager::utils
+{
+using autoware::route_handler::RouteHandler;
+using autoware_planning_msgs::msg::LaneletRoute;
+using geometry_msgs::msg::Pose;
+using nav_msgs::msg::Odometry;
+using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
+
+inline Pose createPoseFromLaneID(
+  const lanelet::Id & lane_id, const std::string & package_name = "autoware_test_utils",
+  const std::string & map_filename = "lanelet2_map.osm")
+{
+  auto map_bin_msg = autoware::test_utils::makeMapBinMsg(package_name, map_filename);
+  // create route_handler
+  auto route_handler = std::make_shared<RouteHandler>();
+  route_handler->setMap(map_bin_msg);
+
+  // get middle idx of the lanelet
+  const auto lanelet = route_handler->getLaneletsFromId(lane_id);
+  const auto center_line = lanelet.centerline();
+  const size_t middle_point_idx = std::floor(center_line.size() / 2.0);
+
+  // get middle position of the lanelet
+  geometry_msgs::msg::Point middle_pos;
+  middle_pos.x = center_line[middle_point_idx].x();
+  middle_pos.y = center_line[middle_point_idx].y();
+
+  // get next middle position of the lanelet
+  geometry_msgs::msg::Point next_middle_pos;
+  next_middle_pos.x = center_line[middle_point_idx + 1].x();
+  next_middle_pos.y = center_line[middle_point_idx + 1].y();
+
+  // calculate middle pose
+  geometry_msgs::msg::Pose middle_pose;
+  middle_pose.position = middle_pos;
+  const double yaw = autoware_utils::calc_azimuth_angle(middle_pos, next_middle_pos);
+  middle_pose.orientation = autoware_utils::create_quaternion_from_yaw(yaw);
+
+  return middle_pose;
+}
+
+// Function to create a route from given start and goal lanelet ids
+// start pose and goal pose are set to the middle of the lanelet
+inline LaneletRoute makeBehaviorRouteFromLaneId(
+  const int & start_lane_id, const int & goal_lane_id,
+  const std::string & package_name = "autoware_test_utils",
+  const std::string & map_filename = "lanelet2_map.osm")
+{
+  LaneletRoute route;
+  route.header.frame_id = "map";
+  auto start_pose = createPoseFromLaneID(start_lane_id, package_name, map_filename);
+  auto goal_pose = createPoseFromLaneID(goal_lane_id, package_name, map_filename);
+  route.start_pose = start_pose;
+  route.goal_pose = goal_pose;
+
+  auto map_bin_msg = autoware::test_utils::makeMapBinMsg(package_name, map_filename);
+  // create route_handler
+  auto route_handler = std::make_shared<RouteHandler>();
+  route_handler->setMap(map_bin_msg);
+
+  LaneletRoute route_msg;
+  RouteSections route_sections;
+  lanelet::ConstLanelets all_route_lanelets;
+
+  // Plan the path between checkpoints (start and goal poses)
+  lanelet::ConstLanelets path_lanelets;
+  if (!route_handler->planPathLaneletsBetweenCheckpoints(start_pose, goal_pose, &path_lanelets)) {
+    return route_msg;
+  }
+
+  // Add all path_lanelets to all_route_lanelets
+  for (const auto & lane : path_lanelets) {
+    all_route_lanelets.push_back(lane);
+  }
+  // create local route sections
+  route_handler->setRouteLanelets(path_lanelets);
+  const auto local_route_sections = route_handler->createMapSegments(path_lanelets);
+  route_sections =
+    autoware::test_utils::combineConsecutiveRouteSections(route_sections, local_route_sections);
+  for (const auto & route_section : route_sections) {
+    for (const auto & primitive : route_section.primitives) {
+      std::cerr << "primitive: " << primitive.id << std::endl;
+    }
+    std::cerr << "preferred_primitive id : " << route_section.preferred_primitive.id << std::endl;
+  }
+  route_handler->setRouteLanelets(all_route_lanelets);
+  route.segments = route_sections;
+
+  route.allow_modification = false;
+  return route;
+}
+
+inline Odometry makeInitialPoseFromLaneId(const lanelet::Id & lane_id)
+{
+  Odometry current_odometry;
+  current_odometry.pose.pose = createPoseFromLaneID(lane_id);
+  current_odometry.header.frame_id = "map";
+
+  return current_odometry;
+}
+
+}  // namespace autoware_planning_test_manager::utils
+#endif  // AUTOWARE__PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_

testing/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp

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+// 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.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// This file is kept for backwards compatibility. Should be removed in the future.
+// Tracked by: https://github.com/autowarefoundation/autoware.core/issues/224
+
+#ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
+#define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
+
+#include <autoware/planning_test_manager/autoware_planning_test_manager.hpp>
+
+#endif  // AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_