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refactor(behavior_path_planner): common test functions #9963

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merged 4 commits into from
Jan 19, 2025
Merged

refactor(behavior_path_planner): common test functions #9963

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0efec43
feat: common test code in behavior_path_planner
takayuki5168 Jan 19, 2025
bc86373
deal with other modules
takayuki5168 Jan 19, 2025
8f6456c
fix typo
takayuki5168 Jan 19, 2025
c033ba8
update
takayuki5168 Jan 19, 2025
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90 changes: 11 additions & 79 deletions ...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "autoware/behavior_path_planner/behavior_path_planner_node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>
#include "autoware/behavior_path_planner/test_utils.hpp"

#include <gtest/gtest.h>

Expand All @@ -25,84 +21,18 @@
#include <string>
#include <vector>

using autoware::behavior_path_planner::BehaviorPathPlannerNode;
using autoware::planning_test_manager::PlanningInterfaceTestManager;

std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
{
auto test_manager = std::make_shared<PlanningInterfaceTestManager>();

// set subscriber with topic name: behavior_path_planner → test_node_
test_manager->setPathWithLaneIdSubscriber("behavior_path_planner/output/path");

// set behavior_path_planner's input topic name(this topic is changed to test node)
test_manager->setRouteInputTopicName("behavior_path_planner/input/route");

test_manager->setInitialPoseTopicName("behavior_path_planner/input/odometry");

return test_manager;
}

std::shared_ptr<BehaviorPathPlannerNode> generateNode()
{
auto node_options = rclcpp::NodeOptions{};
const auto autoware_test_utils_dir =
ament_index_cpp::get_package_share_directory("autoware_test_utils");
const auto behavior_path_planner_dir =
ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
const auto behavior_path_lane_change_module_dir =
ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");

std::vector<std::string> module_names;
module_names.emplace_back("autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager");

std::vector<rclcpp::Parameter> params;
params.emplace_back("launch_modules", module_names);
node_options.parameter_overrides(params);

autoware::test_utils::updateNodeOptions(
node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
autoware_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",
behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml",
ament_index_cpp::get_package_share_directory(
"autoware_behavior_path_static_obstacle_avoidance_module") +
"/config/static_obstacle_avoidance.param.yaml",
ament_index_cpp::get_package_share_directory(
"autoware_behavior_path_avoidance_by_lane_change_module") +
"/config/avoidance_by_lane_change.param.yaml"});

return std::make_shared<BehaviorPathPlannerNode>(node_options);
}

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");
}
using autoware::behavior_path_planner::generateNode;
using autoware::behavior_path_planner::generateTestManager;
using autoware::behavior_path_planner::publishMandatoryTopics;

TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)
{
rclcpp::init(0, nullptr);
auto test_manager = generateTestManager();
auto test_target_node = generateNode();

auto test_manager = generateTestManager();
auto test_target_node = generateNode(
{"lane_change", "static_obstacle_avoidance", "avoidance_by_lane_change"},
{"autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager"});
publishMandatoryTopics(test_manager, test_target_node);

// test for normal trajectory
Expand All @@ -119,7 +49,9 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
rclcpp::init(0, nullptr);

auto test_manager = generateTestManager();
auto test_target_node = generateNode();
auto test_target_node = generateNode(
{"lane_change", "static_obstacle_avoidance", "avoidance_by_lane_change"},
{"autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager"});
publishMandatoryTopics(test_manager, test_target_node);

// test for normal trajectory
Expand Down
82 changes: 10 additions & 72 deletions ...path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,87 +12,23 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "autoware/behavior_path_planner/behavior_path_planner_node.hpp"

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>
#include "autoware/behavior_path_planner/test_utils.hpp"

#include <memory>
#include <string>
#include <vector>

using autoware::behavior_path_planner::BehaviorPathPlannerNode;
using autoware::planning_test_manager::PlanningInterfaceTestManager;

std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
{
auto test_manager = std::make_shared<PlanningInterfaceTestManager>();

// set subscriber with topic name: behavior_path_planner → test_node_
test_manager->setPathWithLaneIdSubscriber("behavior_path_planner/output/path");

// set behavior_path_planner's input topic name(this topic is changed to test node)
test_manager->setRouteInputTopicName("behavior_path_planner/input/route");

test_manager->setInitialPoseTopicName("behavior_path_planner/input/odometry");

return test_manager;
}

std::shared_ptr<BehaviorPathPlannerNode> generateNode()
{
auto node_options = rclcpp::NodeOptions{};
const auto autoware_test_utils_dir =
ament_index_cpp::get_package_share_directory("autoware_test_utils");
const auto behavior_path_planner_dir =
ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");

std::vector<std::string> module_names;
module_names.emplace_back("autoware::behavior_path_planner::DynamicAvoidanceModuleManager");

std::vector<rclcpp::Parameter> params;
params.emplace_back("launch_modules", module_names);
node_options.parameter_overrides(params);

autoware::test_utils::updateNodeOptions(
node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml",
autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
autoware_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(
"autoware_behavior_path_dynamic_obstacle_avoidance_module") +
"/config/dynamic_obstacle_avoidance.param.yaml"});

return std::make_shared<BehaviorPathPlannerNode>(node_options);
}

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");
}
using autoware::behavior_path_planner::generateNode;
using autoware::behavior_path_planner::generateTestManager;
using autoware::behavior_path_planner::publishMandatoryTopics;

TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)
{
rclcpp::init(0, nullptr);
auto test_manager = generateTestManager();
auto test_target_node = generateNode();
auto test_target_node = generateNode(
{"dynamic_obstacle_avoidance"},
{"autoware::behavior_path_planner::DynamicObstacleAvoidanceModuleManager"});

publishMandatoryTopics(test_manager, test_target_node);

Expand All @@ -110,7 +46,9 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
rclcpp::init(0, nullptr);

auto test_manager = generateTestManager();
auto test_target_node = generateNode();
auto test_target_node = generateNode(
{"dynamic_obstacle_avoidance"},
{"autoware::behavior_path_planner::DynamicObstacleAvoidanceModuleManager"});
publishMandatoryTopics(test_manager, test_target_node);

// test for normal trajectory
Expand Down
90 changes: 13 additions & 77 deletions ...th_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,10 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "ament_index_cpp/get_package_share_directory.hpp"
#include "autoware/behavior_path_planner/behavior_path_planner_node.hpp"
#include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
#include "autoware_test_utils/autoware_test_utils.hpp"
#include "autoware/behavior_path_planner/test_utils.hpp"

#include <gtest/gtest.h>

Expand All @@ -24,83 +21,19 @@
#include <string>
#include <vector>

using autoware::behavior_path_planner::BehaviorPathPlannerNode;
using autoware::planning_test_manager::PlanningInterfaceTestManager;

std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
{
auto test_manager = std::make_shared<PlanningInterfaceTestManager>();

// set subscriber with topic name: behavior_path_planner → test_node_
test_manager->setPathWithLaneIdSubscriber("behavior_path_planner/output/path");

// set behavior_path_planner's input topic name(this topic is changed to test node)
test_manager->setRouteInputTopicName("behavior_path_planner/input/route");

test_manager->setInitialPoseTopicName("behavior_path_planner/input/odometry");

return test_manager;
}

std::shared_ptr<BehaviorPathPlannerNode> generateNode()
{
auto node_options = rclcpp::NodeOptions{};
const auto autoware_test_utils_dir =
ament_index_cpp::get_package_share_directory("autoware_test_utils");
const auto behavior_path_planner_dir =
ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
const auto behavior_path_lane_change_module_dir =
ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");

std::vector<std::string> module_names;
module_names.emplace_back(
"autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager");
module_names.emplace_back(
"autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager");

std::vector<rclcpp::Parameter> params;
params.emplace_back("launch_modules", module_names);
node_options.parameter_overrides(params);

autoware::test_utils::updateNodeOptions(
node_options, {
autoware_test_utils_dir + "/config/test_common.param.yaml",
autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",
autoware_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",
behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml",
});

return std::make_shared<BehaviorPathPlannerNode>(node_options);
}

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");
}
using autoware::behavior_path_planner::generateNode;
using autoware::behavior_path_planner::generateTestManager;
using autoware::behavior_path_planner::publishMandatoryTopics;

TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)
{
rclcpp::init(0, nullptr);
auto test_manager = generateTestManager();
auto test_target_node = generateNode();

auto test_manager = generateTestManager();
auto test_target_node = generateNode(
{"lane_change"},
{"autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager",
"autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager"});
publishMandatoryTopics(test_manager, test_target_node);

// test for normal trajectory
Expand All @@ -117,7 +50,10 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
rclcpp::init(0, nullptr);

auto test_manager = generateTestManager();
auto test_target_node = generateNode();
auto test_target_node = generateNode(
{"lane_change"},
{"autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager",
"autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager"});
publishMandatoryTopics(test_manager, test_target_node);

// test for normal trajectory
Expand Down
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