test: add test_points_to_costmap

[storrrrrrrrm]

Signed-off-by: suchang chang.su@autocore.ai

Description

add test_points_to_costmap

Related links

Tests performed

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[kenji-miyake]

Thank you for your PR!
Regarding the title, I think this is not feat but test.

[storrrrrrrrm]

Thank you for your PR! Regarding the title, I think this is not feat but test.

3ks for quick reply. git comments modified.

[storrrrrrrrm]

1/2 /home/runner/work/autoware.universe/autoware.universe/planning/costmap_generator/CMakeLists.txt (600.90ms)
2/2 /home/runner/work/autoware.universe/autoware.universe/planning/costmap_generator/test/test_points_to_costmap.cpp (313.14ms)
Warning: Unknown word (mapx)
planning/costmap_generator/test/test_points_to_costmap.cpp:47:7 Unknown word (mapx)
planning/costmap_generator/test/test_points_to_costmap.cpp:51:17 Unknown word (mapy)
Warning: Unknown word (mapy)
Files checked: 2, Issues found: 2 in 1 files.
Error: 2 spelling issues found in 1 of the 2 files checked.

ci process shows comments in code has unknown words

// gridy
// | mapx-------
// | |
// | |
// | |
// | mapy
// |__________________gridx

i do not think this should be modified...

[kenji-miyake]

ci process shows comments in code has unknown words

Since spell-check-differential is an optional check, you can ignore it for now.

Please refer to the documentation about CI checks.
https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/#spell-check-differential

[kenji-miyake]

Since it seems to be still WIP, I'll convert this to draft. 🙇
Please let me know when it's ready.

[codecov]

Codecov Report

Merging #960 (5d258f5) into main (3ff1a8e) will increase coverage by 0.93%.
The diff coverage is 65.16%.

@@            Coverage Diff            @@
##            main     #960      +/-   ##
=========================================
+ Coverage   9.22%   10.16%   +0.93%     
=========================================
  Files       1038      881     -157     
  Lines      70849    56502   -14347     
  Branches   14867    10775    -4092     
=========================================
- Hits        6538     5743     -795     
+ Misses     58691    45961   -12730     
+ Partials    5620     4798     -822     

Flag	Coverage Δ		*Carryforward flag
differential	32.39% <65.16%> (?)
total	9.90% <ø> (+0.69%)	⬆️	Carriedforward from 06d22d1

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

Impacted Files	Coverage Δ
.../costmap_generator/test/test_points_to_costmap.cpp	65.16% <65.16%> (ø)
system/default_ad_api/src/interface.cpp	0.00% <0.00%> (-71.43%)	⬇️
...ng_simulator/vehicle_model/sim_model_interface.hpp	0.00% <0.00%> (-66.67%)	⬇️
...d_api_msgs/srv/interface_version__type_support.cpp	0.00% <0.00%> (-54.55%)	⬇️
.../_autoware_ad_api_msgs_s.ep.rosidl_typesupport_c.c	0.00% <0.00%> (-47.46%)	⬇️
...auto_common/include/helper_functions/type_name.hpp	66.66% <0.00%> (-33.34%)	⬇️
...l/dds_fastrtps/interface_version__type_support.cpp	0.00% <0.00%> (-32.72%)	⬇️
...s/srv/detail/interface_version__type_support_c.cpp	0.00% <0.00%> (-31.00%)	⬇️
...py/autoware_ad_api_msgs/srv/_interface_version_s.c	0.00% <0.00%> (-29.63%)	⬇️
...odel/vehicle_model_bicycle_kinematics_no_delay.cpp	50.00% <0.00%> (-23.92%)	⬇️
... and 767 more

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[storrrrrrrrm]

i know it sounds weired and incredible, but i found that only add

#ifdef ROS_DISTRO_GALACTIC
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#endif

to objects_to_costmap.hpp make humble CI passed, add this to points_to_costmap.hpp,CI still shows link error,even if i compiled test_points_to_costmap which has nothing to do with objects_to_costmap.hpp!

i can not tell why, i had done a lot of work to find the point but found nothing.
compared the whole build/costmap_generator directory that generated by compiled with different codes(add include header to objects_to_costmap.hpp or to points_to_costmap.hpp ),nothing helpful found.

anyway, thanks to god, ci finally passed. 😩

[kenji-miyake]

@maxime-clem Could you take a look at this? 🙏 If it's okay for you, we can merge this.

[maxime-clem]

Nice tests thank you.
I only have some minor comments and once the code is updated to suit the coding guidelines this can be merged.

[storrrrrrrrm]

thanks for suggestions. since current testcase does not change grid related params like grid_resolution_/grid_length_x_/grid_position_x_, i set them to const. my initial thought was i would change these params in future when i add more cases, especially grid_position_x_,grid_position_y_, to test with diffrent grid map. current test case set grid center to (0,0) which is specific in map frame to make testdata construct and test result check easier.

about why i did not put grid_min_value/grid_max_value/gridmap_layer_name in fixture class，i think test program is not just to test correctness of the program logic,but also a way to help autoware users to undestand and debug easier,i wanna they can know which params would have effect on costmap generation at first sight when they read the code. so i leave them there.