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Merge branch 'feature/lat_lon_control' into feature/pull_over
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kosuke55 committed May 16, 2022
2 parents dea3fb6 + d68bdc4 commit 941986c
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Showing 127 changed files with 5,182 additions and 992 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/github-release.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ jobs:
- name: Select verb
id: select-verb
run: |
has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}")
has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true
verb=create
if [ "$has_previous_draft" = "true" ]; then
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2 changes: 1 addition & 1 deletion common/autoware_auto_common/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})

if(BUILD_TESTING)
set(TEST_COMMON test_common_gtest)
ament_add_gtest(${TEST_COMMON}
ament_add_ros_isolated_gtest(${TEST_COMMON}
test/gtest_main.cpp
test/test_bool_comparisons.cpp
test/test_byte_reader.cpp
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2 changes: 1 addition & 1 deletion common/autoware_auto_common/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
<depend>builtin_interfaces</depend>
<depend>eigen</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>geometry_msgs</test_depend>
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2 changes: 1 addition & 1 deletion common/autoware_auto_geometry/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ if(BUILD_TESTING)
test/src/test_common_2d.cpp
test/src/test_intersection.cpp
)
ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion)
target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include")
ament_target_dependencies(${GEOMETRY_GTEST}
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2 changes: 1 addition & 1 deletion common/autoware_auto_geometry/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
<depend>autoware_auto_vehicle_msgs</depend>
<depend>geometry_msgs</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
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2 changes: 1 addition & 1 deletion common/autoware_auto_tf2/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED)
autoware_package()

if(BUILD_TESTING)
ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
ament_add_ros_isolated_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include")
ament_target_dependencies(test_tf2_autoware_auto_msgs
"autoware_auto_common"
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2 changes: 1 addition & 1 deletion common/autoware_auto_tf2/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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2 changes: 1 addition & 1 deletion common/autoware_point_types/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ include_directories(
)

if(BUILD_TESTING)
ament_add_gtest(test_autoware_point_types
ament_add_ros_isolated_gtest(test_autoware_point_types
test/test_point_types.cpp
)
target_include_directories(test_autoware_point_types
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2 changes: 1 addition & 1 deletion common/autoware_point_types/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
<depend>pcl_ros</depend>
<depend>point_cloud_msg_wrapper</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>point_cloud_msg_wrapper</test_depend>
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39 changes: 27 additions & 12 deletions common/autoware_testing/autoware_testing/smoke_test.py
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@

import os
import shlex
import time
import unittest

from ament_index_python import get_package_share_directory
Expand All @@ -26,21 +27,24 @@
from launch_ros.actions import Node
import launch_testing
import pytest
import rclpy


def resolve_node(context, *args, **kwargs):
parameters = [
os.path.join(
get_package_share_directory(LaunchConfiguration("arg_package").perform(context)),
"param",
file_name,
)
for file_name in shlex.split(LaunchConfiguration("arg_param_filenames").perform(context))
]

smoke_test_node = Node(
package=LaunchConfiguration("arg_package"),
executable=LaunchConfiguration("arg_package_exe"),
namespace="test",
parameters=[
os.path.join(
get_package_share_directory(LaunchConfiguration("arg_package").perform(context)),
"param",
LaunchConfiguration("arg_param_filename").perform(context),
)
],
parameters=parameters,
arguments=shlex.split(LaunchConfiguration("arg_executable_arguments").perform(context)),
)
return [smoke_test_node]
Expand All @@ -55,8 +59,8 @@ def generate_test_description():
arg_package_exe = DeclareLaunchArgument(
"arg_package_exe", default_value=["default"], description="Tested executable"
)
arg_param_filename = DeclareLaunchArgument(
"arg_param_filename", default_value=["test.param.yaml"], description="Test param file"
arg_param_filenames = DeclareLaunchArgument(
"arg_param_filenames", default_value=["test.param.yaml"], description="Test param file"
)
arg_executable_arguments = DeclareLaunchArgument(
"arg_executable_arguments", default_value=[""], description="Tested executable arguments"
Expand All @@ -66,16 +70,27 @@ def generate_test_description():
[
arg_package,
arg_package_exe,
arg_param_filename,
arg_param_filenames,
arg_executable_arguments,
OpaqueFunction(function=resolve_node),
launch_testing.actions.ReadyToTest(),
]
)


class DummyTest(unittest.TestCase):
def test_wait_for_node_ready(self):
"""Waiting for the node is ready."""
rclpy.init()
test_node = rclpy.create_node("test_node")
while len(test_node.get_node_names()) == 0:
time.sleep(0.1)
print("waiting for Node to be ready")
rclpy.shutdown()


@launch_testing.post_shutdown_test()
class TestProcessOutput(unittest.TestCase):
def test_exit_code(self, proc_output, proc_info):
# Check that process exits with code -15 code: termination request, sent to the program
launch_testing.asserts.assertExitCodes(proc_info, [-15])
# Check that process exits with code 0
launch_testing.asserts.assertExitCodes(proc_info)
10 changes: 5 additions & 5 deletions common/autoware_testing/cmake/add_smoke_test.cmake
Original file line number Diff line number Diff line change
Expand Up @@ -19,18 +19,18 @@
# :type package_name: string
# :param package_exec: package executable to run during smoke test
# :type executable_name: string
# :param PARAM_FILENAME: yaml filename containing test parameters
# :type PARAM_FILENAME: string
# :param PARAM_FILENAMES: yaml filenames containing test parameters
# :type PARAM_FILENAMES: string
# :param EXECUTABLE_ARGUMENTS: arguments passed to tested executable
# :type EXECUTABLE_ARGUMENTS: string

function(add_smoke_test package_name executable_name)
cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAME;EXECUTABLE_ARGUMENTS" "")
cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "")

set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}")

if(smoke_test_PARAM_FILENAME)
list(APPEND ARGUMENTS "arg_param_filename:=${smoke_test_PARAM_FILENAME}")
if(smoke_test_PARAM_FILENAMES)
list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}")
endif()

if(smoke_test_EXECUTABLE_ARGUMENTS)
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2 changes: 1 addition & 1 deletion common/fake_test_node/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ autoware_package()
ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp)

if(BUILD_TESTING)
ament_add_gtest(test_fake_test_node
ament_add_ros_isolated_gtest(test_fake_test_node
test/test_fake_test_node.cpp
)
add_dependencies(test_fake_test_node fake_test_node)
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2 changes: 1 addition & 1 deletion common/fake_test_node/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

<build_depend>autoware_cmake</build_depend>

<depend>ament_cmake_gtest</depend>
<depend>ament_cmake_ros</depend>
<depend>autoware_auto_common</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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2 changes: 1 addition & 1 deletion common/had_map_utils/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
<depend>lanelet2_io</depend>
<depend>visualization_msgs</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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2 changes: 1 addition & 1 deletion common/interpolation/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ ament_auto_add_library(interpolation SHARED
if(BUILD_TESTING)
file(GLOB_RECURSE test_files test/**/*.cpp)

ament_add_gtest(test_interpolation ${test_files})
ament_add_ros_isolated_gtest(test_interpolation ${test_files})

target_link_libraries(test_interpolation
interpolation
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2 changes: 1 addition & 1 deletion common/interpolation/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@

<depend>tier4_autoware_utils</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

Expand Down
2 changes: 1 addition & 1 deletion common/motion_testing/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ autoware_package()
ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp)

if(BUILD_TESTING)
ament_add_gtest(motion_testing_unit_tests
ament_add_ros_isolated_gtest(motion_testing_unit_tests
test/gtest_main.cpp
test/constant_trajectory.cpp
test/trajectory_checks.cpp)
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2 changes: 1 addition & 1 deletion common/motion_testing/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
<build_export_depend>autoware_auto_planning_msgs</build_export_depend>
<build_export_depend>autoware_auto_vehicle_msgs</build_export_depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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2 changes: 1 addition & 1 deletion common/osqp_interface/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ if(BUILD_TESTING)
test/test_csc_matrix_conv.cpp
)
set(TEST_OSQP_INTERFACE_EXE test_osqp_interface)
ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES})
ament_add_ros_isolated_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES})
target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME})
endif()

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2 changes: 1 addition & 1 deletion common/osqp_interface/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>eigen</test_depend>
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2 changes: 1 addition & 1 deletion common/signal_processing/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ ament_auto_add_library(lowpass_filter_1d SHARED
)

if(BUILD_TESTING)
ament_add_gtest(test_signal_processing
ament_add_ros_isolated_gtest(test_signal_processing
test/src/lowpass_filter_1d_test.cpp
)
target_link_libraries(test_signal_processing
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2 changes: 1 addition & 1 deletion common/signal_processing/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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2 changes: 1 addition & 1 deletion common/tier4_api_utils/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ autoware_package()

if(BUILD_TESTING)
include_directories(include)
ament_add_gtest(${PROJECT_NAME}_test test/test.cpp)
ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp)
ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs)
endif()

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2 changes: 1 addition & 1 deletion common/tier4_api_utils/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
<depend>rclcpp</depend>
<depend>tier4_external_api_msgs</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>rclcpp</test_depend>
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4 changes: 2 additions & 2 deletions common/tier4_autoware_utils/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,11 @@ ament_auto_add_library(tier4_autoware_utils SHARED
)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_ros REQUIRED)

file(GLOB_RECURSE test_files test/**/*.cpp)

ament_add_gtest(test_tier4_autoware_utils ${test_files})
ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files})

target_link_libraries(test_tier4_autoware_utils
tier4_autoware_utils
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2 changes: 1 addition & 1 deletion common/tier4_autoware_utils/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
<depend>tier4_debug_msgs</depend>
<depend>visualization_msgs</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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1 change: 1 addition & 0 deletions common/tier4_state_rviz_plugin/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
<depend>rviz_common</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
<depend>tier4_planning_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
23 changes: 23 additions & 0 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -80,13 +80,26 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa
engage_button_ptr_ = new QPushButton("Engage");
connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage()));

velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit");
pub_velocity_limit_input_ = new QSpinBox();
pub_velocity_limit_input_->setRange(-100.0, 100.0);
pub_velocity_limit_input_->setValue(0.0);
pub_velocity_limit_input_->setSingleStep(5.0);
connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit()));

auto * v_layout = new QVBoxLayout;
auto * velocity_limit_layout = new QHBoxLayout();
v_layout->addLayout(gate_layout);
v_layout->addLayout(selector_layout);
v_layout->addLayout(state_layout);
v_layout->addLayout(gear_layout);
v_layout->addLayout(engage_status_layout);
v_layout->addWidget(engage_button_ptr_);
v_layout->addLayout(engage_status_layout);
velocity_limit_layout->addWidget(velocity_limit_button_ptr_);
velocity_limit_layout->addWidget(pub_velocity_limit_input_);
velocity_limit_layout->addWidget(new QLabel(" [km/h]"));
v_layout->addLayout(velocity_limit_layout);
setLayout(v_layout);
}

Expand Down Expand Up @@ -114,6 +127,9 @@ void AutowareStatePanel::onInitialize()

client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
"/api/autoware/set/engage", rmw_qos_profile_services_default);

pub_velocity_limit_ = raw_node_->create_publisher<tier4_planning_msgs::msg::VelocityLimit>(
"/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1));
}

void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)
Expand Down Expand Up @@ -215,6 +231,13 @@ void AutowareStatePanel::onEngageStatus(
engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_)));
}

void AutowareStatePanel::onClickVelocityLimit()
{
auto velocity_limit = std::make_shared<tier4_planning_msgs::msg::VelocityLimit>();
velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6;
pub_velocity_limit_->publish(*velocity_limit);
}

void AutowareStatePanel::onClickAutowareEngage()
{
auto req = std::make_shared<tier4_external_api_msgs::srv::Engage::Request>();
Expand Down
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