test(lidar_centerpoint): added gtest for the cuda related parts of centerpoint (#7125)

* test: added gtest for the cuda related parts of centerpoint

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: fixed ci/cd errors

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: knzo25

perception/lidar_centerpoint/CMakeLists.txt

@@ -159,6 +159,50 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     ament_auto_add_gtest(test_nms
       test/test_nms.cpp
     )
+    ament_auto_add_gtest(test_voxel_generator
+      test/test_voxel_generator.cpp
+    )
+
+    add_executable(test_preprocess_kernel
+      test/test_preprocess_kernel.cpp
+      lib/utils.cpp
+    )
+
+    target_include_directories(test_preprocess_kernel PUBLIC
+      ${test_preprocess_kernel_SOURCE_DIR}
+    )
+
+    target_link_libraries(test_preprocess_kernel
+      centerpoint_cuda_lib
+      gtest
+      gtest_main
+    )
+
+    ament_add_test(test_preprocess_kernel
+      GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+      COMMAND "$<TARGET_FILE:test_preprocess_kernel>"
+    )
+
+    add_executable(test_postprocess_kernel
+      test/test_postprocess_kernel.cpp
+      lib/utils.cpp
+    )
+
+    target_include_directories(test_postprocess_kernel PUBLIC
+      ${test_postprocess_kernel_SOURCE_DIR}
+    )
+
+    target_link_libraries(test_postprocess_kernel
+      centerpoint_cuda_lib
+      gtest
+      gtest_main
+    )
+
+    ament_add_test(test_postprocess_kernel
+      GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+      COMMAND "$<TARGET_FILE:test_postprocess_kernel>"
+    )
+
   endif()
 
 else()

perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu

@@ -78,6 +78,11 @@ cudaError_t generateVoxels_random_launch(
 {
   dim3 blocks((points_size + 256 - 1) / 256);
   dim3 threads(256);
+
+  if (blocks.x == 0) {
+    return cudaGetLastError();
+  }
+
   generateVoxels_random_kernel<<<blocks, threads, 0, stream>>>(
     points, points_size, min_x_range, max_x_range, min_y_range, max_y_range, min_z_range,
     max_z_range, pillar_x_size, pillar_y_size, pillar_z_size, grid_y_size, grid_x_size, mask,