feat(autoware_utils_testing): create test utils

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

autoware_utils_testing/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_testing)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  "src/gtest/ros_env.cpp"
+)
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/*.cpp)
+  ament_auto_add_gtest(test_${PROJECT_NAME} ${test_files})
+endif()
+
+ament_auto_package()

autoware_utils_testing/README.md

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+# autoware_utils_testing
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for visualization.
+It is extensively used in the Autoware project to handle common tasks such as creating markers for RViz.
+
+## Design
+
+- **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.

autoware_utils_testing/include/autoware_utils_testing/gtest/ros_env.hpp

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+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS_TESTING__GTEST__ROS_ENV_HPP_
+#define AUTOWARE_UTILS_TESTING__GTEST__ROS_ENV_HPP_
+
+#include <gtest/gtest.h>
+
+namespace autoware_utils_testing::gtest
+{
+
+// Create an environment pointor that executes rclcpp init and shutdown.
+// Pass it to the AddGlobalTestEnvironment in your gtest main function.
+testing::Environment * ros_env(int argc, char ** argv);
+
+}  // namespace autoware_utils_testing::gtest
+
+#endif  // AUTOWARE_UTILS_TESTING__GTEST__ROS_ENV_HPP_

autoware_utils_testing/include/autoware_utils_testing/mock_node.hpp

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+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS_TESTING__MOCK_NODE_HPP_
+#define AUTOWARE_UTILS_TESTING__MOCK_NODE_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <string>
+
+namespace autoware_utils_testing
+{
+
+class MockNode : public rclcpp::Node
+{
+public:
+  explicit MockNode(const std::string & name) : Node(name) {}
+
+private:
+};
+
+}  // namespace autoware_utils_testing
+
+#endif  // AUTOWARE_UTILS_TESTING__MOCK_NODE_HPP_

autoware_utils_testing/include/autoware_utils_testing/runner.hpp

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+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS_TESTING__RUNNER_HPP_
+#define AUTOWARE_UTILS_TESTING__RUNNER_HPP_
+
+namespace autoware_utils_testing
+{
+
+}  // namespace autoware_utils_testing
+
+#endif  // AUTOWARE_UTILS_TESTING__RUNNER_HPP_

autoware_utils_testing/package.xml

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+<?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_utils_testing</name>
+  <version>1.1.0</version>
+  <description>The autoware_utils_testing package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>gtest_vendor</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autoware_utils_testing/src/gtest/ros_env.cpp

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+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware_utils_testing/gtest/ros_env.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace autoware_utils_testing::gtest
+{
+
+class RclcppEnvironment : public testing::Environment
+{
+public:
+  RclcppEnvironment(int argc, char ** argv) : argc(argc), argv(argv) {}
+  void SetUp() override { rclcpp::init(argc, argv); }
+  void TearDown() override { rclcpp::shutdown(); }
+
+private:
+  int argc;
+  char ** argv;
+};
+
+testing::Environment * ros_env(int argc, char ** argv)
+{
+  return new RclcppEnvironment(argc, argv);
+}
+
+}  // namespace autoware_utils_testing::gtest

autoware_utils_testing/test/main.cpp

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+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}