feat(autoware_test_utils): porting autoware_test_utils from universe …

…to core (#172)

Signed-off-by: JianKangEgon <egon.kang@autocore.ai>
Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

build_depends.repos

@@ -11,3 +11,11 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
     version: main
+  autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
+  autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
+    version: main

testing/autoware_test_utils/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_test_utils)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_test_utils SHARED
+  src/autoware_test_utils.cpp
+  src/mock_data_parser.cpp
+)
+
+ament_auto_add_executable(topic_snapshot_saver src/topic_snapshot_saver.cpp)
+
+target_link_libraries(topic_snapshot_saver autoware_test_utils)
+
+if(BUILD_TESTING)
+  ament_auto_add_gtest(test_autoware_test_utils
+    test/test_mock_data_parser.cpp
+    test/test_autoware_test_manager.cpp
+  )
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  test_map
+  test_data
+  launch
+  rviz
+)

testing/autoware_test_utils/README.md

@@ -0,0 +1,106 @@
+# Test Utils
+
+## Background
+
+Several Autoware's components and modules have already adopted unit testing, so a common library to ease the process of writing unit tests is necessary.
+
+## Purpose
+
+The objective of the `test_utils` is to develop a unit testing library for the Autoware components. This library will include
+
+- commonly used functions
+- input/mock data parser
+- maps for testing
+- common routes and mock data for testing.
+
+## Available Maps
+
+The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_test_utils/test_map)
+
+### Common
+
+The common map contains multiple types of usable inputs, including shoulder lanes, intersections, and some regulatory elements. The common map is named `lanelet2_map.osm` in the folder.
+
+![common](./images/common.png)
+
+### 2 km Straight
+
+The 2 km straight lanelet map consists of two lanes that run in the same direction. The map is named `2km_test.osm`.
+
+![two_km](./images/2km-test.png)
+
+The following illustrates the design of the map.
+
+![straight_diagram](./images/2km-test.svg)
+
+### road_shoulders
+
+The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including:
+
+- pick-up/drop-off sites on the side of street lanes
+- pick-up/drop-off sites on the side of curved lanes
+- pick-up/drop-off sites inside a private area
+
+![road_shoulder_test](./images/road_shoulder_test_map.png)
+
+You can easily launch planning_simulator by
+
+```bash
+ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true
+```
+
+### intersection
+
+The intersections lanelet map consist of a variety of intersections including:
+
+- 4-way crossing with traffic light
+- 4-way crossing without traffic light
+- T-shape crossing without traffic light
+- intersection with a loop
+- complicated intersection
+
+![intersection_test](./images/intersection_test_map.png)
+
+You can easily launch planning_simulator by
+
+```bash
+ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true
+```
+
+## Example use cases
+
+### Autoware Planning Test Manager
+
+The goal of the [Autoware Planning Test Manager](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_test_manager/) is to test planning module nodes. The `PlanningInterfaceTestManager` class ([source code](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp)) creates wrapper functions based on the `test_utils` functions.
+
+### Generate test data for unit testing
+
+As presented in this [PR description](https://github.com/autowarefoundation/autoware.universe/pull/9207), the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map.
+
+```bash
+ros2 launch autoware_test_utils psim_road_shoulder.launch.xml
+ros2 launch autoware_test_utils psim_intersection.launch.xml
+```
+
+It uses the autoware `sample_vehicle_description` and `sample_sensor_kit` by default, and `autoware_test_utils/config/test_vehicle_info.param.yaml` is exactly the same as that of `sample_vehicle_description`. If specified, `vehicle_model`/`sensor_model` argument is available.
+
+```bash
+ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\}
+```
+
+The list and field names of the topics to be saved are specified in `config/sample_topic_snapshot.yaml`.
+
+```yaml
+# setting
+fields:
+  - name: self_odometry # this is the field name for this topic
+    type: Odometry # the abbreviated type name of this topic
+    topic: /localization/kinematic_state # the name of this topic
+
+# output
+self_odometry:
+  - header: ...
+    ...
+```
+
+Each field can be parsed to ROS message type using the functions defined in `autoware_test_utils/mock_data_parser.hpp`