test(static_centerline_generator): add launch test with autoware_samp…

…le_vehicle_launch pakcage

Signed-off-by: Takayuki Murooka <[email protected]>

common/autoware_sample_vehicle_launch/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_sample_vehicle_launch)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

common/autoware_sample_vehicle_launch/launch/vehicle_interface.launch.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch/>

common/autoware_sample_vehicle_launch/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>autoware_sample_vehicle_launch</name>
+  <version>0.1.0</version>
+  <description>The autoware_sample_vehicle_launch package</description>
+
+  <maintainer email="[email protected]">Temkei Kem</maintainer>
+  <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
+  <maintainer email="[email protected]">Takayuki Murooka</maintainer>
+  <license>Apache2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

planning/autoware_static_centerline_generator/CMakeLists.txt

@@ -52,6 +52,10 @@ if(BUILD_TESTING)
     test/test_static_centerline_generator.test.py
     TIMEOUT "30"
   )
+  add_launch_test(
+    test/test_static_centerline_generator_launch.test.py
+    TIMEOUT "30"
+  )
   install(DIRECTORY
     test/data/
     DESTINATION share/${PROJECT_NAME}/test/data/

planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml

@@ -1,6 +1,6 @@
 <launch>
   <!-- mandatory arguments for planning-->
-  <arg name="vehicle_model"/>
+  <arg name="vehicle_model" default="autoware_sample_vehicle"/>
 
   <!-- flag -->
   <arg name="mode" default="AUTO" description="select from AUTO, GUI, and VMB"/>
@@ -35,20 +35,20 @@
 
   <!-- Global parameters (for PathFootprint in tier4_planning_rviz_plugin) -->
   <!-- Do not add "group" in order to propagate global parameters -->
-  <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
   </include>
 
   <!-- generate tf from "viewer" to "map" -->
-  <node pkg="autoware_map_tf_generator" exec="autoware_vector_map_tf_generator" name="vector_map_tf_generator">
+  <node pkg="map_tf_generator" exec="vector_map_tf_generator" name="vector_map_tf_generator">
     <remap from="vector_map" to="$(var lanelet2_map_topic)"/>
 
     <param name="map_frame" value="map"/>
     <param name="viewer_frame" value="viewer"/>
   </node>
 
   <!-- visualize map -->
-  <node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization">
+  <node pkg="map_loader" exec="lanelet2_map_visualization" name="lanelet2_map_visualization">
     <remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
     <remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
   </node>

planning/autoware_static_centerline_generator/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autoware_static_centerline_generator</name>
-  <version>0.40.0</version>
+  <version>0.38.0</version>
   <description>The autoware_static_centerline_generator package</description>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>
   <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
@@ -17,14 +17,11 @@
 
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_geography_utils</depend>
-  <depend>autoware_global_parameter_loader</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
-  <depend>autoware_lanelet2_map_visualizer</depend>
   <depend>autoware_map_loader</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_map_projection_loader</depend>
-  <depend>autoware_map_tf_generator</depend>
   <depend>autoware_mission_planner</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
@@ -36,8 +33,10 @@
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
+  <depend>global_parameter_loader</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>tier4_map_msgs</depend>
 
   <exec_depend>python3-flask-cors</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
@@ -47,6 +46,7 @@
   <test_depend>autoware_behavior_path_planner</test_depend>
   <test_depend>autoware_behavior_velocity_planner</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>autoware_sample_vehicle_launch</test_depend>
   <test_depend>ros_testing</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>

planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py

@@ -27,21 +27,20 @@
 
 @pytest.mark.launch_test
 def generate_test_description():
-    lanelet2_map_path = os.path.join(
-        get_package_share_directory("autoware_static_centerline_generator"),
-        "test/data/lanelet2_map.osm",
-    )
-
     static_centerline_generator_node = Node(
         package="autoware_static_centerline_generator",
         executable="main",
         output="screen",
         parameters=[
-            {"lanelet2_map_path": lanelet2_map_path},
             {"mode": "AUTO"},
             {"rviz": False},
             {"centerline_source": "optimization_trajectory_base"},
-            {"lanelet2_input_file_path": lanelet2_map_path},
+            {
+                "lanelet2_input_file_path": os.path.join(
+                    get_package_share_directory("autoware_static_centerline_generator"),
+                    "test/data/lanelet2_map.osm",
+                )
+            },
             {"lanelet2_output_file_path": "/tmp/lanelet2_map.osm"},
             {"start_lanelet_id": 215},
             {"end_lanelet_id": 216},

planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 TIER IV, Inc.
+#
+# 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.
+
+import os
+import unittest
+
+from ament_index_python import get_package_share_directory
+import launch
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+import launch_testing
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    test_static_centerline_generator_launch_file = os.path.join(
+        get_package_share_directory("autoware_static_centerline_generator"),
+        "launch",
+        "static_centerline_generator.launch.xml",
+    )
+
+    static_centerline_generator = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(test_static_centerline_generator_launch_file),
+    )
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "lanelet2_input_file_path",
+                default_value=os.path.join(
+                    get_package_share_directory("autoware_static_centerline_generator"),
+                    "test/data/lanelet2_map.osm",
+                ),
+            ),
+            DeclareLaunchArgument(
+                "lanelet2_output_file_path", default_value="/tmp/lanelet2_map.osm"
+            ),
+            DeclareLaunchArgument("rviz", default_value="false"),
+            DeclareLaunchArgument("start_lanelet_id", default_value="215"),
+            DeclareLaunchArgument("end_lanelet_id", default_value="216"),
+            DeclareLaunchArgument(
+                "centerline_source", default_value="optimization_trajectory_base"
+            ),
+            static_centerline_generator,
+            # Start test after 1s - gives time for the autoware_static_centerline_generator to finish initialization
+            launch.actions.TimerAction(period=1.0, actions=[launch_testing.actions.ReadyToTest()]),
+        ]
+    )
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+    def test_exit_code(self, proc_info):
+        # Check that process exits with code 0: no error
+        launch_testing.asserts.assertExitCodes(proc_info)