setup node interface test

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CMakeLists.txt

@@ -32,14 +32,14 @@ else()
 endif()
 
 if(BUILD_TESTING)
-  # ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-  #   test/src/test_node_interface.cpp TODO(Maxime)
-  # )
-  # target_link_libraries(test_${PROJECT_NAME}
-  #   gtest_main
-  #   ${PROJECT_NAME}_lib
-  # )
-  # target_include_directories(test_${PROJECT_NAME} PRIVATE src)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    test/src/test_node_interface.cpp
+  )
+  target_link_libraries(test_${PROJECT_NAME}
+    gtest_main
+    ${PROJECT_NAME}_lib
+  )
+  target_include_directories(test_${PROJECT_NAME} PRIVATE src)
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/config/motion_velocity_planner.param.yaml

@@ -1,2 +0,0 @@
-/**:
-  ros__parameters:

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml

@@ -46,6 +46,8 @@
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>autoware_motion_velocity_out_of_lane_module</test_depend>
+  <test_depend>autoware_planning_test_manager</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp

@@ -15,67 +15,51 @@
 #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/autoware_planning_test_manager.hpp>
+#include <autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp>
 
 #include <gtest/gtest.h>
 
-#include <cmath>
 #include <vector>
 
-using behavior_velocity_planner::BehaviorVelocityPlannerNode;
+using autoware::motion_velocity_planner::MotionVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
   auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
 
-  // set subscriber with topic name: behavior_velocity_planner → test_node_
-  test_manager->setPathSubscriber("behavior_velocity_planner_node/output/path");
+  // set subscriber with topic name: motion_velocity_planner → test_node_
+  test_manager->setTrajectorySubscriber("motion_velocity_planner_node/output/trajectory");
 
-  // set behavior_velocity_planner node's input topic name(this topic is changed to test node)
-  test_manager->setPathWithLaneIdTopicName(
-    "behavior_velocity_planner_node/input/path_with_lane_id");
+  // set motion_velocity_planner node's input topic name(this topic is changed to test node)
+  test_manager->setTrajectoryInputTopicName("motion_velocity_planner_node/input/trajectory");
 
-  test_manager->setInitialPoseTopicName("behavior_velocity_planner_node/input/vehicle_odometry");
-  test_manager->setOdometryTopicName("behavior_velocity_planner_node/input/vehicle_odometry");
+  test_manager->setInitialPoseTopicName("motion_velocity_planner_node/input/vehicle_odometry");
+  test_manager->setOdometryTopicName("motion_velocity_planner_node/input/vehicle_odometry");
 
   return test_manager;
 }
 
-std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
+std::shared_ptr<MotionVelocityPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto behavior_velocity_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_velocity_planner");
+  const auto motion_velocity_planner_dir =
+    ament_index_cpp::get_package_share_directory("autoware_motion_velocity_planner_node");
   const auto motion_velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
 
-  const auto get_behavior_velocity_module_config = [](const std::string & module) {
-    const auto package_name = "behavior_velocity_" + module + "_module";
+  const auto get_motion_velocity_module_config = [](const std::string & module) {
+    const auto package_name = "autoware_motion_velocity_" + module + "_module";
     const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
     return package_path + "/config/" + module + ".param.yaml";
   };
 
   std::vector<std::string> module_names;
-  module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::TrafficLightModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::IntersectionModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::BlindSpotModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::DetectionAreaModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::VirtualTrafficLightModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::OutOfLaneModulePlugin");
-  module_names.emplace_back("behavior_velocity_planner::NoDrivableLaneModulePlugin");
+  module_names.emplace_back("autoware::motion_velocity_planner::OutOfLaneModule");
 
   std::vector<rclcpp::Parameter> params;
   params.emplace_back("launch_modules", module_names);
@@ -89,70 +73,49 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
      planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
      motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
      motion_velocity_smoother_dir + "/config/Analytical.param.yaml",
-     behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
-     get_behavior_velocity_module_config("blind_spot"),
-     get_behavior_velocity_module_config("crosswalk"),
-     get_behavior_velocity_module_config("walkway"),
-     get_behavior_velocity_module_config("detection_area"),
-     get_behavior_velocity_module_config("intersection"),
-     get_behavior_velocity_module_config("no_stopping_area"),
-     get_behavior_velocity_module_config("occlusion_spot"),
-     get_behavior_velocity_module_config("run_out"),
-     get_behavior_velocity_module_config("speed_bump"),
-     get_behavior_velocity_module_config("stop_line"),
-     get_behavior_velocity_module_config("traffic_light"),
-     get_behavior_velocity_module_config("virtual_traffic_light"),
-     get_behavior_velocity_module_config("out_of_lane"),
-     get_behavior_velocity_module_config("no_drivable_lane")});
-
-  // TODO(Takagi, Isamu): set launch_modules
-  // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light
-  // TODO(Kyoichi Sugahara) set to true launch_occlusion_spot
-  // TODO(Kyoichi Sugahara) set to true launch_run_out
-  // TODO(Kyoichi Sugahara) set to true launch_speed_bump
-
-  return std::make_shared<BehaviorVelocityPlannerNode>(node_options);
+     motion_velocity_planner_dir + "/config/motion_velocity_planner.param.yaml",
+     get_motion_velocity_module_config("out_of_lane")});
+
+  return std::make_shared<MotionVelocityPlannerNode>(node_options);
 }
 
 void publishMandatoryTopics(
   std::shared_ptr<PlanningInterfaceTestManager> test_manager,
-  std::shared_ptr<BehaviorVelocityPlannerNode> test_target_node)
+  std::shared_ptr<MotionVelocityPlannerNode> test_target_node)
 {
   // publish necessary topics from test_manager
   test_manager->publishTF(test_target_node, "/tf");
-  test_manager->publishAcceleration(test_target_node, "behavior_velocity_planner_node/input/accel");
+  test_manager->publishAcceleration(test_target_node, "motion_velocity_planner_node/input/accel");
   test_manager->publishPredictedObjects(
-    test_target_node, "behavior_velocity_planner_node/input/dynamic_objects");
+    test_target_node, "motion_velocity_planner_node/input/dynamic_objects");
   test_manager->publishPointCloud(
-    test_target_node, "behavior_velocity_planner_node/input/no_ground_pointcloud");
+    test_target_node, "motion_velocity_planner_node/input/no_ground_pointcloud");
   test_manager->publishOdometry(
-    test_target_node, "behavior_velocity_planner_node/input/vehicle_odometry");
-  test_manager->publishAcceleration(test_target_node, "behavior_velocity_planner_node/input/accel");
-  test_manager->publishMap(test_target_node, "behavior_velocity_planner_node/input/vector_map");
+    test_target_node, "motion_velocity_planner_node/input/vehicle_odometry");
+  test_manager->publishAcceleration(test_target_node, "motion_velocity_planner_node/input/accel");
+  test_manager->publishMap(test_target_node, "motion_velocity_planner_node/input/vector_map");
   test_manager->publishTrafficSignals(
-    test_target_node, "behavior_velocity_planner_node/input/traffic_signals");
-  test_manager->publishMaxVelocity(
-    test_target_node, "behavior_velocity_planner_node/input/external_velocity_limit_mps");
+    test_target_node, "motion_velocity_planner_node/input/traffic_signals");
   test_manager->publishVirtualTrafficLightState(
-    test_target_node, "behavior_velocity_planner_node/input/virtual_traffic_light_states");
+    test_target_node, "motion_velocity_planner_node/input/virtual_traffic_light_states");
   test_manager->publishOccupancyGrid(
-    test_target_node, "behavior_velocity_planner_node/input/occupancy_grid");
+    test_target_node, "motion_velocity_planner_node/input/occupancy_grid");
 }
 
-TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
   auto test_manager = generateTestManager();
   auto test_target_node = generateNode();
 
   publishMandatoryTopics(test_manager, test_target_node);
 
-  // test with nominal path_with_lane_id
-  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  // test with nominal trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalTrajectory(test_target_node));
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
-  // test with empty path_with_lane_id
-  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  // test with empty trajectory
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalTrajectory(test_target_node));
   rclcpp::shutdown();
 }
 
@@ -165,12 +128,12 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
   publishMandatoryTopics(test_manager, test_target_node);
 
   // test for normal trajectory
-  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalTrajectory(test_target_node));
 
-  // make sure behavior_path_planner is running
+  // make sure motion_velocity_planner is running
   EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
 
-  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+  ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromTrajectory(test_target_node));
 
   rclcpp::shutdown();
 }