test(planning_test_utils): add ASSART_NO_THROW_WITH_ERROR_MSG macro

[TakaHoribe]

Description

since ASSERT_NO_THROW in gtest masks the exception message, I redefine it with error message.

Before

3: /home/horibe/workspace/pilot-auto.latest/src/autoware/universe/planning/behavior_velocity_planner/test/src/test_behavior_velocity_planner_node_interface.cpp:169: Failure
3: Expected: test_manager->testOffTrackFromPathWithLaneId(test_target_node) doesn't throw an exception.
3: Actual: it throws. 

After

3: /home/horibe/workspace/pilot-auto.latest/src/autoware/universe/planning/behavior_velocity_planner/test/src/test_behavior_velocity_planner_node_interface.cpp:153: Failure
3: Failed
3: Expected: test_manager->testOffTrackFromPathWithLaneId(test_target_node) doesn't throw an exception.
3: Actual: it throws. Error message: Topic name for N8nav_msgs3msg9Odometry_ISaIvEEE is empty

Tests performed

run colcon test for planning packages

Effects on system behavior

None

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.99 🎉

Comparison is base (a54ad62) 14.55% compared to head (2541234) 15.55%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3695      +/-   ##
==========================================
+ Coverage   14.55%   15.55%   +0.99%     
==========================================
  Files        1409     1303     -106     
  Lines       99287    92685    -6602     
  Branches    29347    29349       +2     
==========================================
- Hits        14455    14420      -35     
+ Misses      69245    62682    -6563     
+ Partials    15587    15583       -4     

Flag	Coverage Δ		*Carryforward flag
differential	16.19% <0.00%> (?)
total	15.00% <ø> (+0.44%)	⬆️	Carriedforward from e09d02e

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...test/test_behavior_path_planner_node_interface.cpp	27.90% <0.00%> (ø)
.../test_behavior_velocity_planner_node_interface.cpp	19.67% <0.00%> (ø)
...ner/test/test_freespace_planner_node_interface.cpp	32.43% <0.00%> (ø)
...test_obstacle_avoidance_planner_node_interface.cpp	14.28% <0.00%> (ø)
...st/test_obstacle_cruise_planner_node_interface.cpp	34.28% <0.00%> (ø)
...test/test_obstacle_stop_planner_node_interface.cpp	31.57% <0.00%> (ø)
..._manager/planning_interface_test_manager_utils.hpp	11.11% <0.00%> (-0.16%)	⬇️

... and 110 files with indirect coverage changes

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[kyoichi-sugahara]

awesome!
I could get an error with following change

diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
index a24086a3df..4ec1340d45 100644
--- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -86,7 +86,7 @@ void publishMandatoryTopics(
   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");
+    test_target_node, "");
 }
 
 TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)

error is like this

6: C++ exception with description "Topic name for N19tier4_planning_msgs3msg14LateralOffset_ISaIvEEE is empty" thrown in the test body.

so it's a little bit annoying so by changing this

diff --git a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp
index b0d738b127..15ff71b1e9 100644
--- a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp
+++ b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp
@@ -41,6 +41,7 @@
 
 #include <boost/optional.hpp>
 
+#include <cxxabi.h>
 #include <lanelet2_io/Io.h>
 #include <tf2/utils.h>
 #include <tf2_ros/buffer.h>
@@ -358,7 +359,13 @@ void publishToTargetNode(
   typename rclcpp::Publisher<T>::SharedPtr publisher, T data, const int repeat_count = 3)
 {
   if (topic_name.empty()) {
-    throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty");
+    int status;
+    char * demangled_name = abi::__cxa_demangle(typeid(data).name(), nullptr, nullptr, &status);
+    if (status == 0) {
+      throw std::runtime_error(std::string("Topic name for ") + demangled_name + " is empty");
+    } else {
+      throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty");
+    }
   }
 
   test_utils::setPublisher<T>(test_node, topic_name, publisher);

I could get an error like below.

C++ exception with description "Topic name for tier4_planning_msgs::msg::LateralOffset_<std::allocator<void> > is empty" thrown in the test body.

[kyoichi-sugahara]

LGTM!!!