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common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

+6-4
Original file line numberDiff line numberDiff line change
@@ -48,10 +48,10 @@
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#include <limits>
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#include <memory>
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#include <optional>
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#include <string>
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#include <unordered_map>
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#include <vector>
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#include <optional>
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namespace autoware::test_utils
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{
@@ -451,7 +451,7 @@ template <typename T>
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void createSubscription(
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rclcpp::Node::SharedPtr test_node, const std::string & topic_name,
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std::function<void(const typename T::ConstSharedPtr)> callback,
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std::shared_ptr<rclcpp::Subscription<T>> & subscriber,
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std::shared_ptr<rclcpp::Subscription<T>> & subscriber,
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std::optional<rclcpp::QoS> qos = std::nullopt)
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{
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if (!qos.has_value()) {
@@ -483,7 +483,8 @@ void setSubscriber(
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std::optional<rclcpp::QoS> qos = std::nullopt)
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{
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createSubscription(
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test_node, topic_name, [&count](const typename T::ConstSharedPtr) { count++; }, subscriber, qos);
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test_node, topic_name, [&count](const typename T::ConstSharedPtr) { count++; }, subscriber,
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qos);
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}
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/**
@@ -568,7 +569,8 @@ class AutowareTestManager
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template <typename MessageType>
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void set_subscriber(
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const std::string & topic_name,
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std::function<void(const typename MessageType::ConstSharedPtr)> callback, std::optional<rclcpp::QoS> qos = std::nullopt)
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std::function<void(const typename MessageType::ConstSharedPtr)> callback,
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std::optional<rclcpp::QoS> qos = std::nullopt)
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{
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if (subscribers_.find(topic_name) == subscribers_.end()) {
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std::shared_ptr<rclcpp::Subscription<MessageType>> subscriber;

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