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feat(behavior_velocity_xxx_module): add node test
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
1 parent 33dc075 commit ec82355

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22 files changed

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‎planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt

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@@ -13,4 +13,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
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src/util.cpp
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
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ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
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${TEST_SOURCES}
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)
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target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
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endif()
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ament_auto_package(INSTALL_TO_SHARE config)

‎planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml

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@@ -17,6 +17,7 @@
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<depend>autoware_behavior_velocity_planner</depend>
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<depend>autoware_behavior_velocity_planner_common</depend>
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<depend>autoware_lanelet2_extension</depend>
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<depend>autoware_motion_utils</depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/test/test_node_interface.cpp

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@@ -0,0 +1,64 @@
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <autoware/behavior_velocity_planner/test_utils.hpp>
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#include <gtest/gtest.h>
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#include <cmath>
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#include <memory>
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#include <string>
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#include <vector>
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namespace autoware::behavior_velocity_planner
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{
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TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
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{
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rclcpp::init(0, nullptr);
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auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
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auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
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autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
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// test with nominal path_with_lane_id
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
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EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
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// test with empty path_with_lane_id
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
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rclcpp::shutdown();
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}
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TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
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{
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rclcpp::init(0, nullptr);
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const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
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"blind_spot", "autoware::behavior_velocity_planner::BlindSpotModulePlugin"}};
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auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
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auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
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autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
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// test for normal trajectory
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
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// make sure behavior_path_planner is running
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EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
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rclcpp::shutdown();
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}
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} // namespace autoware::behavior_velocity_planner

‎planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt

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@@ -14,6 +14,7 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
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test/test_utils.cpp
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test/test_node_interface.cpp
1718
)
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target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
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endif()

‎planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml

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@@ -17,6 +17,7 @@
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<buildtool_depend>eigen3_cmake_module</buildtool_depend>
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<depend>autoware_behavior_velocity_planner</depend>
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<depend>autoware_behavior_velocity_planner_common</depend>
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<depend>autoware_lanelet2_extension</depend>
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<depend>autoware_motion_utils</depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_node_interface.cpp

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@@ -0,0 +1,64 @@
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// Copyright 2024 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include <autoware/behavior_velocity_planner/test_utils.hpp>
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#include <gtest/gtest.h>
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#include <cmath>
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#include <memory>
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#include <string>
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#include <vector>
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namespace autoware::behavior_velocity_planner
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{
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TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
27+
{
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rclcpp::init(0, nullptr);
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auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
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auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
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autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
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// test with nominal path_with_lane_id
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
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EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
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// test with empty path_with_lane_id
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
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rclcpp::shutdown();
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}
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TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
44+
{
45+
rclcpp::init(0, nullptr);
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const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
48+
"detection_area", "autoware::behavior_velocity_planner::DetectionAreaModulePlugin"}};
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50+
auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
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auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
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autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
53+
54+
// test for normal trajectory
55+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
56+
57+
// make sure behavior_path_planner is running
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EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
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60+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
61+
62+
rclcpp::shutdown();
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}
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} // namespace autoware::behavior_velocity_planner

‎planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml

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@@ -19,6 +19,7 @@
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<depend>autoware_behavior_velocity_planner</depend>
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<depend>autoware_behavior_velocity_planner_common</depend>
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<depend>autoware_internal_debug_msgs</depend>
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<depend>autoware_interpolation</depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_node_interface.cpp

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1+
// Copyright 2024 TIER IV, Inc.
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//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include <autoware/behavior_velocity_planner/test_utils.hpp>
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17+
#include <gtest/gtest.h>
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19+
#include <cmath>
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#include <memory>
21+
#include <string>
22+
#include <vector>
23+
24+
namespace autoware::behavior_velocity_planner
25+
{
26+
TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
27+
{
28+
rclcpp::init(0, nullptr);
29+
auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
30+
auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
31+
32+
autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
33+
34+
// test with nominal path_with_lane_id
35+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
36+
EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
37+
38+
// test with empty path_with_lane_id
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
40+
rclcpp::shutdown();
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}
42+
43+
TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
44+
{
45+
rclcpp::init(0, nullptr);
46+
47+
const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
48+
"intersection", "autoware::behavior_velocity_planner::IntersectionModulePlugin"}};
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auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
51+
auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
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autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
53+
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// test for normal trajectory
55+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
56+
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// make sure behavior_path_planner is running
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EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
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ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
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rclcpp::shutdown();
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}
64+
} // namespace autoware::behavior_velocity_planner

‎planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt

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@@ -14,6 +14,7 @@ if(BUILD_TESTING)
1414
ament_lint_auto_find_test_dependencies()
1515
ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
1616
test/test_utils.cpp
17+
test/test_node_interface.cpp
1718
)
1819
target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
1920
endif()

‎planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml

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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<depend>autoware_behavior_velocity_planner</depend>
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<depend>autoware_behavior_velocity_planner_common</depend>
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<depend>autoware_interpolation</depend>
2223
<depend>autoware_lanelet2_extension</depend>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test_node_interface.cpp

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1+
// Copyright 2024 TIER IV, Inc.
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//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
4+
// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#include <autoware/behavior_velocity_planner/test_utils.hpp>
16+
17+
#include <gtest/gtest.h>
18+
19+
#include <cmath>
20+
#include <memory>
21+
#include <string>
22+
#include <vector>
23+
24+
namespace autoware::behavior_velocity_planner
25+
{
26+
TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
27+
{
28+
rclcpp::init(0, nullptr);
29+
auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
30+
auto test_target_node = autoware::behavior_velocity_planner::generateNode({});
31+
32+
autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
33+
34+
// test with nominal path_with_lane_id
35+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
36+
EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
37+
38+
// test with empty path_with_lane_id
39+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
40+
rclcpp::shutdown();
41+
}
42+
43+
TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
44+
{
45+
rclcpp::init(0, nullptr);
46+
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const auto plugin_info_vec = {autoware::behavior_velocity_planner::PluginInfo{
48+
"no_stopping_area", "autoware::behavior_velocity_planner::NoStoppingAreaModulePlugin"}};
49+
50+
auto test_manager = autoware::behavior_velocity_planner::generateTestManager();
51+
auto test_target_node = autoware::behavior_velocity_planner::generateNode(plugin_info_vec);
52+
autoware::behavior_velocity_planner::publishMandatoryTopics(test_manager, test_target_node);
53+
54+
// test for normal trajectory
55+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
56+
57+
// make sure behavior_path_planner is running
58+
EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
59+
60+
ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
61+
62+
rclcpp::shutdown();
63+
}
64+
} // namespace autoware::behavior_velocity_planner

‎planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt

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@@ -21,6 +21,7 @@ if(BUILD_TESTING)
2121
tests/test_path_utils.cpp
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tests/test_utils.cpp
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tests/test_state_machine.cpp
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tests/test_node_interface.cpp
2425
)
2526
target_link_libraries(test_${PROJECT_NAME}
2627
autoware_behavior_velocity_run_out_module

‎planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml

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<buildtool_depend>eigen3_cmake_module</buildtool_depend>
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2222
<depend>autoware_behavior_velocity_crosswalk_module</depend>
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<depend>autoware_behavior_velocity_planner</depend>
2324
<depend>autoware_behavior_velocity_planner_common</depend>
2425
<depend>autoware_internal_debug_msgs</depend>
2526
<depend>autoware_motion_utils</depend>

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