refactor(behavior_path_planner): common test functions (#9963)

* feat: common test code in behavior_path_planner Signed-off-by: Takayuki Murooka <[email protected]> * deal with other modules Signed-off-by: Takayuki Murooka <[email protected]> * fix typo Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jan 19, 2025 · 37fc242 · 37fc242
1 parent 4b16661
commit 37fc242
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diff --git a/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -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>
 
@@ -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
@@ -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

diff --git a/...path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/...path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -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);
 
@@ -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

diff --git a/...th_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/...th_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -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>
 
@@ -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
@@ -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