diff --git a/common/autoware_sample_vehicle_launch/CMakeLists.txt b/common/autoware_sample_vehicle_launch/CMakeLists.txt new file mode 100644 index 00000000..b82765b2 --- /dev/null +++ b/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 +) diff --git a/common/autoware_sample_vehicle_launch/launch/vehicle_interface.launch.xml b/common/autoware_sample_vehicle_launch/launch/vehicle_interface.launch.xml new file mode 100644 index 00000000..6e543eb9 --- /dev/null +++ b/common/autoware_sample_vehicle_launch/launch/vehicle_interface.launch.xml @@ -0,0 +1,2 @@ + + diff --git a/common/autoware_sample_vehicle_launch/package.xml b/common/autoware_sample_vehicle_launch/package.xml new file mode 100644 index 00000000..183856b5 --- /dev/null +++ b/common/autoware_sample_vehicle_launch/package.xml @@ -0,0 +1,18 @@ + + + autoware_sample_vehicle_launch + 0.1.0 + The autoware_sample_vehicle_launch package + + Temkei Kem + Kosuke Takeuchi + Takayuki Murooka + Apache2 + + ament_cmake_auto + autoware_cmake + + + ament_cmake + + diff --git a/planning/autoware_static_centerline_generator/CMakeLists.txt b/planning/autoware_static_centerline_generator/CMakeLists.txt index 261e8beb..633810fd 100644 --- a/planning/autoware_static_centerline_generator/CMakeLists.txt +++ b/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/ diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 0590009a..79c7405c 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -1,6 +1,6 @@ - + @@ -35,12 +35,12 @@ - + - + @@ -48,7 +48,7 @@ - + diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index cea18e56..d17fd476 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -2,7 +2,7 @@ autoware_static_centerline_generator - 0.40.0 + 0.38.0 The autoware_static_centerline_generator package Takayuki Murooka Kosuke Takeuchi @@ -17,14 +17,11 @@ autoware_behavior_path_planner_common autoware_geography_utils - autoware_global_parameter_loader autoware_interpolation autoware_lanelet2_extension - autoware_lanelet2_map_visualizer autoware_map_loader autoware_map_msgs autoware_map_projection_loader - autoware_map_tf_generator autoware_mission_planner autoware_motion_utils autoware_osqp_interface @@ -36,8 +33,10 @@ autoware_universe_utils autoware_vehicle_info_utils geometry_msgs + global_parameter_loader rclcpp rclcpp_components + tier4_map_msgs python3-flask-cors rosidl_default_runtime @@ -47,6 +46,7 @@ autoware_behavior_path_planner autoware_behavior_velocity_planner autoware_lint_common + autoware_sample_vehicle_launch ros_testing rosidl_interface_packages diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index ca262121..ab59481d 100644 --- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/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}, diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py new file mode 100644 index 00000000..f86383b4 --- /dev/null +++ b/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)