relete unnecessary definition

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp

@@ -23,7 +23,6 @@
 
 TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput)
 {
-  using autoware_auto_planning_msgs::msg::Trajectory;
   rclcpp::init(0, nullptr);
 
   auto test_manager = std::make_shared<planning_test_manager::PlanningIntefaceTestManager>();

planning/surround_obstacle_checker/CMakeLists.txt

@@ -27,6 +27,15 @@ rclcpp_components_register_node(${PROJECT_NAME}
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    test/test_motion_velocity_smoother_node_interface.cpp
+  )
+  target_link_libraries(test_${PROJECT_NAME}
+    ${PROJECT_NAME}
+  )
+endif()
+
 ament_auto_package(
   INSTALL_TO_SHARE
   config

planning/surround_obstacle_checker/package.xml

@@ -36,6 +36,7 @@
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

planning/surround_obstacle_checker/test/test_surround_obstacle_checker_node_interface.cpp

@@ -0,0 +1,68 @@
+// 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 "motion_velocity_smoother/motion_velocity_smoother_node.hpp"
+#include "planning_interface_test_manager/planning_interface_test_manager.hpp"
+#include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp"
+
+#include <gtest/gtest.h>
+
+#include <vector>
+
+TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput)
+{
+  using autoware_auto_planning_msgs::msg::Trajectory;
+  rclcpp::init(0, nullptr);
+
+  auto test_manager = std::make_shared<planning_test_manager::PlanningIntefaceTestManager>();
+
+  auto node_options = rclcpp::NodeOptions{};
+
+  test_manager->declareVehicleInfoParams(node_options);
+  test_manager->declareNearestSearchDistanceParams(node_options);
+  node_options.append_parameter_override("algorithm_type", "JerkFiltered");
+  node_options.append_parameter_override("publish_debug_trajs", false);
+
+  const auto motion_velocity_smoother_dir =
+    ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
+
+  node_options.arguments(
+    {"--ros-args", "--params-file",
+     motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
+     "--params-file", motion_velocity_smoother_dir + "/config/default_common.param.yaml",
+     "--params-file", motion_velocity_smoother_dir + "/config/JerkFiltered.param.yaml"});
+
+  auto test_target_node =
+    std::make_shared<motion_velocity_smoother::MotionVelocitySmootherNode>(node_options);
+
+  // publish necessary topics from test_manager
+  test_manager->publishOdometry(test_target_node, "/localization/kinematic_state");
+  test_manager->publishMaxVelocity(
+    test_target_node, "motion_velocity_smoother/input/external_velocity_limit_mps");
+
+  // set subscriber for test_target_node
+  test_manager->setTrajectorySubscriber("motion_velocity_smoother/output/trajectory");
+
+  // setting topic name of subscribing topic
+  test_manager->setTrajectoryInputTopicName("motion_velocity_smoother/input/trajectory");
+
+  // test for normal trajectory
+  ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(
+    test_target_node, "motion_velocity_smoother/input/trajectory"));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test for trajectory with empty/one point/overlapping point
+  test_manager->testWithAbnormalTrajectory(test_target_node);
+}