From 8dcc05881e9e56d89a2b91f0b69c82e6100330cb Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Mon, 13 May 2024 18:00:47 +0900
Subject: [PATCH 1/4] refactor(autoware_planning_test_manager): rename package
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../CMakeLists.txt | 11 +++
.../autoware_planning_test_manager/README.md | 92 +++++++++++++++++++
.../planning_interface_test_manager.hpp | 6 +-
.../package.xml | 47 ++++++++++
.../src/planning_interface_test_manager.cpp | 4 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
planning/behavior_path_planner/package.xml | 2 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
.../package.xml | 2 +-
...t_behavior_path_planner_node_interface.cpp | 4 +-
.../test/src/test_node_interface.cpp | 4 +-
planning/freespace_planner/package.xml | 2 +-
.../test_freespace_planner_node_interface.cpp | 4 +-
planning/motion_velocity_smoother/package.xml | 2 +-
...otion_velocity_smoother_node_interface.cpp | 4 +-
.../obstacle_avoidance_planner/package.xml | 2 +-
...tacle_avoidance_planner_node_interface.cpp | 4 +-
planning/obstacle_cruise_planner/package.xml | 2 +-
...obstacle_cruise_planner_node_interface.cpp | 4 +-
planning/obstacle_stop_planner/package.xml | 2 +-
...t_obstacle_stop_planner_node_interface.cpp | 4 +-
.../obstacle_velocity_limiter/package.xml | 2 +-
...stacle_velocity_limiter_node_interface.cpp | 4 +-
planning/path_smoother/package.xml | 2 +-
.../test_path_smoother_node_interface.cpp | 4 +-
planning/planning_test_utils/CMakeLists.txt | 4 -
...ager_utils.hpp => planning_test_utils.hpp} | 6 +-
planning/planning_validator/package.xml | 2 +-
...test_planning_validator_node_interface.cpp | 4 +-
planning/scenario_selector/package.xml | 2 +-
.../test_scenario_selector_node_interface.cpp | 4 +-
35 files changed, 203 insertions(+), 57 deletions(-)
create mode 100644 planning/autoware_planning_test_manager/CMakeLists.txt
create mode 100644 planning/autoware_planning_test_manager/README.md
rename planning/{planning_test_utils/include/planning_test_utils => autoware_planning_test_manager/include/autoware_planning_test_manager}/planning_interface_test_manager.hpp (98%)
create mode 100644 planning/autoware_planning_test_manager/package.xml
rename planning/{planning_test_utils => autoware_planning_test_manager}/src/planning_interface_test_manager.cpp (99%)
rename planning/planning_test_utils/include/planning_test_utils/{planning_interface_test_manager_utils.hpp => planning_test_utils.hpp} (98%)
diff --git a/planning/autoware_planning_test_manager/CMakeLists.txt b/planning/autoware_planning_test_manager/CMakeLists.txt
new file mode 100644
index 0000000000000..5099607302e9d
--- /dev/null
+++ b/planning/autoware_planning_test_manager/CMakeLists.txt
@@ -0,0 +1,11 @@
+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/planning_interface_test_manager.cpp
+)
+
+ament_auto_package()
diff --git a/planning/autoware_planning_test_manager/README.md b/planning/autoware_planning_test_manager/README.md
new file mode 100644
index 0000000000000..63f1bf53a4954
--- /dev/null
+++ b/planning/autoware_planning_test_manager/README.md
@@ -0,0 +1,92 @@
+# Planning Interface 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<planning_test_utils::PlanningInterfaceTestManager>();
+
+ // get package directories for necessary configuration files
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("planning_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",
+ planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+ 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, "motion_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 |
+| -------------------------- | ----------------------------------------------------------------------------------------- | ----------------- | -------------- | ------------------------------------------------------------------------------------- |
+| planning_validator | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points |
+| motion_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 |
+| obstacle_avoidance_planner | 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)
diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/planning_interface_test_manager.hpp
similarity index 98%
rename from planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp
rename to planning/autoware_planning_test_manager/include/autoware_planning_test_manager/planning_interface_test_manager.hpp
index a63b0d02152f0..6cabf00bbf315 100644
--- a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/planning_interface_test_manager.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_HPP_
-#define PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_HPP_
+#ifndef AUTOWARE_PLANNING_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_
+#define AUTOWARE_PLANNING_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_
// since ASSERT_NO_THROW in gtest masks the exception message, redefine it.
#define ASSERT_NO_THROW_WITH_ERROR_MSG(statement) \
@@ -266,4 +266,4 @@ class PlanningInterfaceTestManager
} // namespace planning_test_utils
-#endif // PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_HPP_
+#endif // AUTOWARE_PLANNING_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
new file mode 100644
index 0000000000000..e2c00756c2ba4
--- /dev/null
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>autoware_planning_test_manager</name>
+ <version>0.1.0</version>
+ <description>ROS 2 node for testing interface of the nodes in planning module</description>
+ <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
+ <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
+ <license>Apache License 2.0</license>
+
+ <author email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</author>
+
+ <buildtool_depend>ament_cmake_auto</buildtool_depend>
+ <buildtool_depend>autoware_cmake</buildtool_depend>
+
+ <depend>autoware_auto_control_msgs</depend>
+ <depend>autoware_auto_mapping_msgs</depend>
+ <depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_auto_vehicle_msgs</depend>
+ <depend>autoware_perception_msgs</depend>
+ <depend>autoware_planning_msgs</depend>
+ <depend>component_interface_specs</depend>
+ <depend>component_interface_utils</depend>
+ <depend>lanelet2_extension</depend>
+ <depend>lanelet2_io</depend>
+ <depend>motion_utils</depend>
+ <depend>nav_msgs</depend>
+ <depend>planning_test_utils</depend>
+ <depend>rclcpp</depend>
+ <depend>route_handler</depend>
+ <depend>tf2_msgs</depend>
+ <depend>tf2_ros</depend>
+ <depend>tier4_api_msgs</depend>
+ <depend>tier4_autoware_utils</depend>
+ <depend>tier4_planning_msgs</depend>
+ <depend>tier4_v2x_msgs</depend>
+ <depend>unique_identifier_msgs</depend>
+ <depend>yaml_cpp_vendor</depend>
+
+ <test_depend>ament_cmake_ros</test_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>autoware_lint_common</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
diff --git a/planning/planning_test_utils/src/planning_interface_test_manager.cpp b/planning/autoware_planning_test_manager/src/planning_interface_test_manager.cpp
similarity index 99%
rename from planning/planning_test_utils/src/planning_interface_test_manager.cpp
rename to planning/autoware_planning_test_manager/src/planning_interface_test_manager.cpp
index 0a6b4246348eb..e40a47cd4a269 100644
--- a/planning/planning_test_utils/src/planning_interface_test_manager.cpp
+++ b/planning/autoware_planning_test_manager/src/planning_interface_test_manager.cpp
@@ -14,8 +14,8 @@
#include "motion_utils/trajectory/conversion.hpp"
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
namespace planning_test_utils
{
diff --git a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 1167fa4414752..9be7ff330c82b 100644
--- a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index 8cf85554e2b2c..2af60fdc07dbc 100644
--- a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <vector>
diff --git a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index 16b4ffbc688ae..a6cba4440d35d 100644
--- a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <vector>
diff --git a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 434988cc3ab08..0afe73bf16adf 100644
--- a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -13,9 +13,9 @@
// limitations under the License.
#include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_planning_test_manager/planning_interface_test_manager.hpp"
#include "behavior_path_planner/behavior_path_planner_node.hpp"
-#include "planning_test_utils/planning_interface_test_manager.hpp"
-#include "planning_test_utils/planning_interface_test_manager_utils.hpp"
+#include "planning_test_utils/planning_test_utils.hpp"
#include <gtest/gtest.h>
diff --git a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 82f721411d5a4..1ab80cb979cc0 100644
--- a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -13,9 +13,9 @@
// limitations under the License.
#include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_planning_test_manager/planning_interface_test_manager.hpp"
#include "behavior_path_planner/behavior_path_planner_node.hpp"
-#include "planning_test_utils/planning_interface_test_manager.hpp"
-#include "planning_test_utils/planning_interface_test_manager_utils.hpp"
+#include "planning_test_utils/planning_test_utils.hpp"
#include <gtest/gtest.h>
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index 7f50c61a8343a..d9c7dc9fa7894 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -41,6 +41,7 @@
<depend>autoware_auto_tf2</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_perception_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>behavior_path_planner_common</depend>
<depend>freespace_planning_algorithms</depend>
<depend>frenet_planner</depend>
@@ -54,7 +55,6 @@
<depend>motion_utils</depend>
<depend>object_recognition_utils</depend>
<depend>path_sampler</depend>
- <depend>planning_test_utils</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
index 7ba934e873a8d..d4972fb2fa007 100644
--- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_sampling_planner_module/package.xml
index cfac87b3c557f..f016cb6de1e7c 100644
--- a/planning/behavior_path_sampling_planner_module/package.xml
+++ b/planning/behavior_path_sampling_planner_module/package.xml
@@ -18,6 +18,7 @@
<depend>autoware_auto_tf2</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_perception_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>behavior_path_planner_common</depend>
<depend>bezier_sampler</depend>
<depend>frenet_planner</depend>
@@ -26,7 +27,6 @@
<depend>lanelet2_extension</depend>
<depend>motion_utils</depend>
<depend>path_sampler</depend>
- <depend>planning_test_utils</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
diff --git a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
index eb7d1afe27549..12ca0c908ae6f 100644
--- a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
index 935530b52e175..cb1f416dcdb6b 100644
--- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -15,8 +15,8 @@
#include "node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/freespace_planner/package.xml b/planning/freespace_planner/package.xml
index 22557f8a0bbb3..8ebb22fdb5c2f 100644
--- a/planning/freespace_planner/package.xml
+++ b/planning/freespace_planner/package.xml
@@ -16,11 +16,11 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>freespace_planning_algorithms</depend>
<depend>geometry_msgs</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
index 013eb3c33cbad..9a98f1b348052 100644
--- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "freespace_planner/freespace_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml
index 9792aa2bdd60b..b9b368d917535 100644
--- a/planning/motion_velocity_smoother/package.xml
+++ b/planning/motion_velocity_smoother/package.xml
@@ -21,12 +21,12 @@
<buildtool_depend>eigen3_cmake_module</buildtool_depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>osqp_interface</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
index 430f8b78ec88c..d62e0fa710e2c 100644
--- a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
+++ b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
@@ -15,8 +15,8 @@
#include "motion_velocity_smoother/motion_velocity_smoother_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_avoidance_planner/package.xml b/planning/obstacle_avoidance_planner/package.xml
index 81429368fc7e4..40caf7ef300aa 100644
--- a/planning/obstacle_avoidance_planner/package.xml
+++ b/planning/obstacle_avoidance_planner/package.xml
@@ -15,12 +15,12 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>osqp_interface</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_msgs</depend>
diff --git a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
index 9c567487e9cac..00f6457ef535a 100644
--- a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
+++ b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "obstacle_avoidance_planner/node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml
index f6263521bd337..eaba45a31869a 100644
--- a/planning/obstacle_cruise_planner/package.xml
+++ b/planning/obstacle_cruise_planner/package.xml
@@ -20,6 +20,7 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>lanelet2_extension</depend>
@@ -27,7 +28,6 @@
<depend>nav_msgs</depend>
<depend>object_recognition_utils</depend>
<depend>osqp_interface</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>signal_processing</depend>
diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index d412286d77d53..923d55a392e9e 100644
--- a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "obstacle_cruise_planner/node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml
index 14cdd862bb41e..1a6f8433875ce 100644
--- a/planning/obstacle_stop_planner/package.xml
+++ b/planning/obstacle_stop_planner/package.xml
@@ -23,12 +23,12 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>diagnostic_msgs</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
index 7f986bf848777..9a24325276579 100644
--- a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
+++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
@@ -15,8 +15,8 @@
#include "obstacle_stop_planner/node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_velocity_limiter/package.xml b/planning/obstacle_velocity_limiter/package.xml
index 377f061faffd7..8c9c89094f5f0 100644
--- a/planning/obstacle_velocity_limiter/package.xml
+++ b/planning/obstacle_velocity_limiter/package.xml
@@ -13,6 +13,7 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>eigen</depend>
<depend>grid_map_msgs</depend>
<depend>grid_map_ros</depend>
@@ -23,7 +24,6 @@
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>pcl_ros</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
diff --git a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
index a89042ef210d5..cc2e02112a112 100644
--- a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
+++ b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
@@ -15,8 +15,8 @@
#include "obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/path_smoother/package.xml b/planning/path_smoother/package.xml
index f0e0381f1706b..0cba14254e492 100644
--- a/planning/path_smoother/package.xml
+++ b/planning/path_smoother/package.xml
@@ -15,12 +15,12 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>osqp_interface</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_msgs</depend>
diff --git a/planning/path_smoother/test/test_path_smoother_node_interface.cpp b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
index 3598e07f84fd6..cc2ad3499688c 100644
--- a/planning/path_smoother/test/test_path_smoother_node_interface.cpp
+++ b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
@@ -15,8 +15,8 @@
#include "path_smoother/elastic_band_smoother.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/planning_test_utils/CMakeLists.txt b/planning/planning_test_utils/CMakeLists.txt
index a192f1756b9be..29ee79c2cab1a 100644
--- a/planning/planning_test_utils/CMakeLists.txt
+++ b/planning/planning_test_utils/CMakeLists.txt
@@ -4,10 +4,6 @@ project(planning_test_utils)
find_package(autoware_cmake REQUIRED)
autoware_package()
-ament_auto_add_library(planning_test_utils SHARED
- src/planning_interface_test_manager.cpp
-)
-
ament_auto_package(INSTALL_TO_SHARE
config
test_map
diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
similarity index 98%
rename from planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp
rename to planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
index 371a6316ce993..7b52f3860592e 100644
--- a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp
+++ b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_
-#define PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_
+#ifndef PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
+#define PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "rclcpp/rclcpp.hpp"
@@ -556,4 +556,4 @@ PathWithLaneId loadPathWithLaneIdInYaml()
} // namespace test_utils
-#endif // PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_
+#endif // PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
diff --git a/planning/planning_validator/package.xml b/planning/planning_validator/package.xml
index 1f1c1cc55e93c..9ecc760efd7e3 100644
--- a/planning/planning_validator/package.xml
+++ b/planning/planning_validator/package.xml
@@ -16,11 +16,11 @@
<build_depend>rosidl_default_generators</build_depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>diagnostic_updater</depend>
<depend>geometry_msgs</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_autoware_utils</depend>
diff --git a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
index 606dc182504a2..106616c20fd54 100644
--- a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
+++ b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
@@ -15,8 +15,8 @@
#include "planning_validator/planning_validator.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/scenario_selector/package.xml b/planning/scenario_selector/package.xml
index b985cac0b6ae7..341076505d5b8 100644
--- a/planning/scenario_selector/package.xml
+++ b/planning/scenario_selector/package.xml
@@ -18,9 +18,9 @@
<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
+ <depend>autoware_planning_test_manager</depend>
<depend>lanelet2_extension</depend>
<depend>nav_msgs</depend>
- <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
index 7413be07ef904..1e9d1805a673e 100644
--- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
+++ b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
@@ -15,8 +15,8 @@
#include "scenario_selector/scenario_selector_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <planning_test_utils/planning_interface_test_manager.hpp>
-#include <planning_test_utils/planning_interface_test_manager_utils.hpp>
+#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
From dfe432430bd0947b23eef645dacb70aa3eb3fc61 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Mon, 13 May 2024 18:39:06 +0900
Subject: [PATCH 2/4] rename file
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/autoware_planning_test_manager/CMakeLists.txt | 2 +-
..._test_manager.hpp => autoware_planning_test_manager.hpp} | 6 +++---
..._test_manager.cpp => autoware_planning_test_manager.cpp} | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/test_behavior_path_planner_node_interface.cpp | 2 +-
.../test/src/test_node_interface.cpp | 2 +-
.../test/test_freespace_planner_node_interface.cpp | 2 +-
.../test/test_motion_velocity_smoother_node_interface.cpp | 2 +-
.../test/test_obstacle_avoidance_planner_node_interface.cpp | 2 +-
.../test/test_obstacle_cruise_planner_node_interface.cpp | 2 +-
.../test/test_obstacle_stop_planner_node_interface.cpp | 2 +-
.../test/test_obstacle_velocity_limiter_node_interface.cpp | 2 +-
.../test/test_path_smoother_node_interface.cpp | 2 +-
planning/planning_test_utils/README.md | 2 +-
.../test/src/test_planning_validator_node_interface.cpp | 2 +-
.../test/test_scenario_selector_node_interface.cpp | 2 +-
21 files changed, 23 insertions(+), 23 deletions(-)
rename planning/autoware_planning_test_manager/include/autoware_planning_test_manager/{planning_interface_test_manager.hpp => autoware_planning_test_manager.hpp} (98%)
rename planning/autoware_planning_test_manager/src/{planning_interface_test_manager.cpp => autoware_planning_test_manager.cpp} (99%)
diff --git a/planning/autoware_planning_test_manager/CMakeLists.txt b/planning/autoware_planning_test_manager/CMakeLists.txt
index 5099607302e9d..1f0a62aae0026 100644
--- a/planning/autoware_planning_test_manager/CMakeLists.txt
+++ b/planning/autoware_planning_test_manager/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED)
autoware_package()
ament_auto_add_library(autoware_planning_test_manager SHARED
- src/planning_interface_test_manager.cpp
+ src/autoware_planning_test_manager.cpp
)
ament_auto_package()
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/planning_interface_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
similarity index 98%
rename from planning/autoware_planning_test_manager/include/autoware_planning_test_manager/planning_interface_test_manager.hpp
rename to planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
index 6cabf00bbf315..82636af20579d 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/planning_interface_test_manager.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef AUTOWARE_PLANNING_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_
-#define AUTOWARE_PLANNING_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_
+#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) \
@@ -266,4 +266,4 @@ class PlanningInterfaceTestManager
} // namespace planning_test_utils
-#endif // AUTOWARE_PLANNING_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_
+#endif // AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
diff --git a/planning/autoware_planning_test_manager/src/planning_interface_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
similarity index 99%
rename from planning/autoware_planning_test_manager/src/planning_interface_test_manager.cpp
rename to planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
index e40a47cd4a269..3aee408a76306 100644
--- a/planning/autoware_planning_test_manager/src/planning_interface_test_manager.cpp
+++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
@@ -14,7 +14,7 @@
#include "motion_utils/trajectory/conversion.hpp"
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
namespace planning_test_utils
diff --git a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 9be7ff330c82b..f66e944cb7cbc 100644
--- a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index 2af60fdc07dbc..4ae77249b5d0f 100644
--- a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <vector>
diff --git a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index a6cba4440d35d..cf38a0b4993fe 100644
--- a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <vector>
diff --git a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 0afe73bf16adf..1eb5118cd94b2 100644
--- a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -13,7 +13,7 @@
// limitations under the License.
#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "autoware_planning_test_manager/planning_interface_test_manager.hpp"
+#include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include "planning_test_utils/planning_test_utils.hpp"
diff --git a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 1ab80cb979cc0..7b36bf475646b 100644
--- a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -13,7 +13,7 @@
// limitations under the License.
#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "autoware_planning_test_manager/planning_interface_test_manager.hpp"
+#include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include "planning_test_utils/planning_test_utils.hpp"
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
index d4972fb2fa007..f8630a0c61973 100644
--- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
index 12ca0c908ae6f..db1f5ee3560b1 100644
--- a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "behavior_path_planner/behavior_path_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
index cb1f416dcdb6b..f70259b6a1f80 100644
--- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -15,7 +15,7 @@
#include "node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
index 9a98f1b348052..881ce269a7895 100644
--- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "freespace_planner/freespace_planner_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
index d62e0fa710e2c..56813a37941a6 100644
--- a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
+++ b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
@@ -15,7 +15,7 @@
#include "motion_velocity_smoother/motion_velocity_smoother_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
index 00f6457ef535a..d5af4c7e1180f 100644
--- a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
+++ b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "obstacle_avoidance_planner/node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index 923d55a392e9e..bd11effb774da 100644
--- a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "obstacle_cruise_planner/node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
index 9a24325276579..4e846d9ff1417 100644
--- a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
+++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
@@ -15,7 +15,7 @@
#include "obstacle_stop_planner/node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
index cc2e02112a112..fb7f9bb85e2c5 100644
--- a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
+++ b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
@@ -15,7 +15,7 @@
#include "obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/path_smoother/test/test_path_smoother_node_interface.cpp b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
index cc2ad3499688c..30e9fba1433cb 100644
--- a/planning/path_smoother/test/test_path_smoother_node_interface.cpp
+++ b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
@@ -15,7 +15,7 @@
#include "path_smoother/elastic_band_smoother.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/planning_test_utils/README.md b/planning/planning_test_utils/README.md
index 63f1bf53a4954..b72625be999dd 100644
--- a/planning/planning_test_utils/README.md
+++ b/planning/planning_test_utils/README.md
@@ -1,4 +1,4 @@
-# Planning Interface Test Manager
+# Autoware Planning Test Manager
## Background
diff --git a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
index 106616c20fd54..2b2a32bf54618 100644
--- a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
+++ b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
@@ -15,7 +15,7 @@
#include "planning_validator/planning_validator.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
index 1e9d1805a673e..90995e4e2ae72 100644
--- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
+++ b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
@@ -15,7 +15,7 @@
#include "scenario_selector/scenario_selector_node.hpp"
#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <autoware_planning_test_manager/planning_interface_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <planning_test_utils/planning_test_utils.hpp>
#include <gtest/gtest.h>
From 0b5913adf1ba36a46c21abde1d98df609cde782f Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Tue, 14 May 2024 09:45:02 +0900
Subject: [PATCH 3/4] Add maintainer for planning test utils
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/planning_test_utils/package.xml | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml
index 278813818de0d..f39942aa16d6a 100644
--- a/planning/planning_test_utils/package.xml
+++ b/planning/planning_test_utils/package.xml
@@ -6,6 +6,8 @@
<description>ROS 2 node for testing interface of the nodes in planning module</description>
<maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
+ <maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
+ <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
<license>Apache License 2.0</license>
<author email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</author>
@@ -26,7 +28,6 @@
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
- <depend>route_handler</depend>
<depend>tf2_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_api_msgs</depend>
From 144ea396f8e3cc4875a83df4614ad03400530f95 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Tue, 14 May 2024 09:48:51 +0900
Subject: [PATCH 4/4] Add route handler back into package.xml
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/planning_test_utils/package.xml | 1 +
1 file changed, 1 insertion(+)
diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml
index f39942aa16d6a..47540d6d3751f 100644
--- a/planning/planning_test_utils/package.xml
+++ b/planning/planning_test_utils/package.xml
@@ -28,6 +28,7 @@
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
+ <depend>route_handler</depend>
<depend>tf2_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_api_msgs</depend>