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...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
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| // Copyright 2023 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. | ||
|
|
||
| #include "ament_index_cpp/get_package_share_directory.hpp" | ||
| #include "behavior_path_planner/behavior_path_planner_node.hpp" | ||
| #include "planning_interface_test_manager/planning_interface_test_manager.hpp" | ||
| #include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp" | ||
|
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| #include <gtest/gtest.h> | ||
|
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| #include <cmath> | ||
| #include <vector> | ||
|
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| using behavior_path_planner::BehaviorPathPlannerNode; | ||
| using planning_test_utils::PlanningInterfaceTestManager; | ||
|
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| std::shared_ptr<PlanningInterfaceTestManager> generateTestManager() | ||
| { | ||
| auto test_manager = std::make_shared<PlanningInterfaceTestManager>(); | ||
|
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| // set subscriber with topic name: behavior_path_planner → test_node_ | ||
| test_manager->setPathWithLaneIdSubscriber("behavior_path_planner/output/path"); | ||
|
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| // set behavior_path_planner's input topic name(this topic is changed to test node) | ||
| test_manager->setRouteInputTopicName("behavior_path_planner/input/route"); | ||
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| test_manager->setInitialPoseTopicName("behavior_path_planner/input/odometry"); | ||
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| return test_manager; | ||
| } | ||
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| std::shared_ptr<BehaviorPathPlannerNode> 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_path_planner_dir = | ||
| ament_index_cpp::get_package_share_directory("behavior_path_planner"); | ||
|
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| std::vector<std::string> module_names; | ||
| module_names.emplace_back("behavior_path_planner::AvoidanceByLaneChangeModuleManager"); | ||
|
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| std::vector<rclcpp::Parameter> params; | ||
| params.emplace_back("launch_modules", module_names); | ||
| node_options.parameter_overrides(params); | ||
|
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| test_utils::updateNodeOptions( | ||
| node_options, | ||
| {planning_test_utils_dir + "/config/test_common.param.yaml", | ||
| planning_test_utils_dir + "/config/test_nearest_search.param.yaml", | ||
| planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", | ||
| behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", | ||
| behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", | ||
| behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", | ||
| ament_index_cpp::get_package_share_directory("behavior_path_planner") + | ||
| "/config/lane_change/lane_change.param.yaml", | ||
| ament_index_cpp::get_package_share_directory("behavior_path_avoidance_module") + | ||
| "/config/avoidance.param.yaml", | ||
| ament_index_cpp::get_package_share_directory("behavior_path_avoidance_by_lane_change_module") + | ||
| "/config/avoidance_by_lc.param.yaml"}); | ||
|
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| return std::make_shared<BehaviorPathPlannerNode>(node_options); | ||
| } | ||
|
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| void publishMandatoryTopics( | ||
| std::shared_ptr<PlanningInterfaceTestManager> test_manager, | ||
| std::shared_ptr<BehaviorPathPlannerNode> test_target_node) | ||
| { | ||
| // publish necessary topics from test_manager | ||
| test_manager->publishInitialPose(test_target_node, "behavior_path_planner/input/odometry"); | ||
| test_manager->publishAcceleration(test_target_node, "behavior_path_planner/input/accel"); | ||
| test_manager->publishPredictedObjects(test_target_node, "behavior_path_planner/input/perception"); | ||
| test_manager->publishOccupancyGrid( | ||
| test_target_node, "behavior_path_planner/input/occupancy_grid_map"); | ||
| test_manager->publishLaneDrivingScenario( | ||
| test_target_node, "behavior_path_planner/input/scenario"); | ||
| test_manager->publishMap(test_target_node, "behavior_path_planner/input/vector_map"); | ||
| test_manager->publishCostMap(test_target_node, "behavior_path_planner/input/costmap"); | ||
| test_manager->publishOperationModeState(test_target_node, "system/operation_mode/state"); | ||
| test_manager->publishLateralOffset( | ||
| test_target_node, "behavior_path_planner/input/lateral_offset"); | ||
| } | ||
|
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| TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| auto test_manager = generateTestManager(); | ||
| auto test_target_node = generateNode(); | ||
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| publishMandatoryTopics(test_manager, test_target_node); | ||
|
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| // test for normal trajectory | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithBehaviorNominalRoute(test_target_node)); | ||
| EXPECT_GE(test_manager->getReceivedTopicNum(), 1); | ||
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| // test with empty route | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalRoute(test_target_node)); | ||
| rclcpp::shutdown(); | ||
| } | ||
|
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| TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
|
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| auto test_manager = generateTestManager(); | ||
| auto test_target_node = generateNode(); | ||
| publishMandatoryTopics(test_manager, test_target_node); | ||
|
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| // test for normal trajectory | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithBehaviorNominalRoute(test_target_node)); | ||
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| // make sure behavior_path_planner is running | ||
| EXPECT_GE(test_manager->getReceivedTopicNum(), 1); | ||
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| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testRouteWithInvalidEgoPose(test_target_node)); | ||
|
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| rclcpp::shutdown(); | ||
| } |
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126 changes: 126 additions & 0 deletions
126
planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,126 @@ | ||
| // Copyright 2023 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. | ||
|
|
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| #include "ament_index_cpp/get_package_share_directory.hpp" | ||
| #include "behavior_path_planner/behavior_path_planner_node.hpp" | ||
| #include "planning_interface_test_manager/planning_interface_test_manager.hpp" | ||
| #include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp" | ||
|
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| #include <gtest/gtest.h> | ||
|
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| #include <cmath> | ||
| #include <vector> | ||
|
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| using behavior_path_planner::BehaviorPathPlannerNode; | ||
| using planning_test_utils::PlanningInterfaceTestManager; | ||
|
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| std::shared_ptr<PlanningInterfaceTestManager> generateTestManager() | ||
| { | ||
| auto test_manager = std::make_shared<PlanningInterfaceTestManager>(); | ||
|
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| // set subscriber with topic name: behavior_path_planner → test_node_ | ||
| test_manager->setPathWithLaneIdSubscriber("behavior_path_planner/output/path"); | ||
|
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| // set behavior_path_planner's input topic name(this topic is changed to test node) | ||
| test_manager->setRouteInputTopicName("behavior_path_planner/input/route"); | ||
|
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| test_manager->setInitialPoseTopicName("behavior_path_planner/input/odometry"); | ||
|
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| return test_manager; | ||
| } | ||
|
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| std::shared_ptr<BehaviorPathPlannerNode> 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_path_planner_dir = | ||
| ament_index_cpp::get_package_share_directory("behavior_path_planner"); | ||
|
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| std::vector<std::string> module_names; | ||
| module_names.emplace_back("behavior_path_planner::AvoidanceModuleManager"); | ||
|
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| std::vector<rclcpp::Parameter> params; | ||
| params.emplace_back("launch_modules", module_names); | ||
| node_options.parameter_overrides(params); | ||
|
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| test_utils::updateNodeOptions( | ||
| node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", | ||
| planning_test_utils_dir + "/config/test_nearest_search.param.yaml", | ||
| planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", | ||
| behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", | ||
| behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", | ||
| behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", | ||
| ament_index_cpp::get_package_share_directory("behavior_path_planner") + | ||
| "/config/lane_change/lane_change.param.yaml", | ||
| ament_index_cpp::get_package_share_directory("behavior_path_avoidance_module") + | ||
| "/config/avoidance.param.yaml"}); | ||
|
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| return std::make_shared<BehaviorPathPlannerNode>(node_options); | ||
| } | ||
|
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| void publishMandatoryTopics( | ||
| std::shared_ptr<PlanningInterfaceTestManager> test_manager, | ||
| std::shared_ptr<BehaviorPathPlannerNode> test_target_node) | ||
| { | ||
| // publish necessary topics from test_manager | ||
| test_manager->publishInitialPose(test_target_node, "behavior_path_planner/input/odometry"); | ||
| test_manager->publishAcceleration(test_target_node, "behavior_path_planner/input/accel"); | ||
| test_manager->publishPredictedObjects(test_target_node, "behavior_path_planner/input/perception"); | ||
| test_manager->publishOccupancyGrid( | ||
| test_target_node, "behavior_path_planner/input/occupancy_grid_map"); | ||
| test_manager->publishLaneDrivingScenario( | ||
| test_target_node, "behavior_path_planner/input/scenario"); | ||
| test_manager->publishMap(test_target_node, "behavior_path_planner/input/vector_map"); | ||
| test_manager->publishCostMap(test_target_node, "behavior_path_planner/input/costmap"); | ||
| test_manager->publishOperationModeState(test_target_node, "system/operation_mode/state"); | ||
| test_manager->publishLateralOffset( | ||
| test_target_node, "behavior_path_planner/input/lateral_offset"); | ||
| } | ||
|
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| TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| auto test_manager = generateTestManager(); | ||
| auto test_target_node = generateNode(); | ||
|
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| publishMandatoryTopics(test_manager, test_target_node); | ||
|
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| // test for normal trajectory | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithBehaviorNominalRoute(test_target_node)); | ||
| EXPECT_GE(test_manager->getReceivedTopicNum(), 1); | ||
|
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| // test with empty route | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalRoute(test_target_node)); | ||
| rclcpp::shutdown(); | ||
| } | ||
|
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| TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
|
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| auto test_manager = generateTestManager(); | ||
| auto test_target_node = generateNode(); | ||
| publishMandatoryTopics(test_manager, test_target_node); | ||
|
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| // test for normal trajectory | ||
| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithBehaviorNominalRoute(test_target_node)); | ||
|
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| // make sure behavior_path_planner is running | ||
| EXPECT_GE(test_manager->getReceivedTopicNum(), 1); | ||
|
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| ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testRouteWithInvalidEgoPose(test_target_node)); | ||
|
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| rclcpp::shutdown(); | ||
| } |
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