test(map_loader): add launch test for the 'lanelet2_map_loader' node (#…

…1056) Signed-off-by: Maxime CLEMENT <[email protected]> Co-authored-by: Kenji Miyake <[email protected]>
autowarefoundation · Jun 9, 2022 · 4c910ac · 4c910ac
1 parent 3bdba1f
commit 4c910ac
Show file tree

Hide file tree

Showing 4 changed files with 219 additions and 0 deletions.
diff --git a/map/map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt
@@ -39,6 +39,17 @@ rclcpp_components_register_node(lanelet2_map_visualization_node
   EXECUTABLE lanelet2_map_visualization
 )
 
+if(BUILD_TESTING)
+  add_ros_test(
+    test/lanelet2_map_loader_launch.test.py
+    TIMEOUT "30"
+  )
+  install(DIRECTORY
+    test/data/
+    DESTINATION share/${PROJECT_NAME}/test/data/
+  )
+endif()
+
 install(PROGRAMS
   script/map_hash_generator
   DESTINATION lib/${PROJECT_NAME}

diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
@@ -27,6 +27,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
+  <test_depend>ros_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/map/map_loader/test/data/test_map.osm b/map/map_loader/test/data/test_map.osm
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<osm generator="VMB">
+  <MetaInfo format_version="1" map_version="2"/>
+  <node id="10" lat="35.62554985786315" lon="139.78246505089274">
+    <tag k="mgrs_code" v="54SUE897431"/>
+    <tag k="local_x" v="89747.3792"/>
+    <tag k="local_y" v="43100.1597"/>
+    <tag k="ele" v="12.149"/>
+  </node>
+  <node id="11" lat="35.625753282567665" lon="139.78285100261152">
+    <tag k="mgrs_code" v="54SUE897431"/>
+    <tag k="local_x" v="89782.6096"/>
+    <tag k="local_y" v="43122.2901"/>
+    <tag k="ele" v="5.95"/>
+  </node>
+  <node id="13" lat="35.625587319824625" lon="139.78243545848844">
+    <tag k="mgrs_code" v="54SUE897431"/>
+    <tag k="local_x" v="89744.7508"/>
+    <tag k="local_y" v="43104.348"/>
+    <tag k="ele" v="12.149"/>
+  </node>
+  <node id="14" lat="35.625789398053385" lon="139.78281921887913">
+    <tag k="mgrs_code" v="54SUE897431"/>
+    <tag k="local_x" v="89779.7809"/>
+    <tag k="local_y" v="43126.3315"/>
+    <tag k="ele" v="5.95"/>
+  </node>
+  <node id="17" lat="35.62598180391042" lon="139.78328457291465">
+    <tag k="mgrs_code" v="54SUE898431"/>
+    <tag k="local_x" v="89822.1865"/>
+    <tag k="local_y" v="43147.1509"/>
+    <tag k="ele" v="6.7069"/>
+  </node>
+  <node id="20" lat="35.62633552101926" lon="139.78392036825423">
+    <tag k="mgrs_code" v="54SUE898431"/>
+    <tag k="local_x" v="89880.2479"/>
+    <tag k="local_y" v="43185.6716"/>
+    <tag k="ele" v="12.2602"/>
+  </node>
+  <node id="22" lat="35.62602561192561" lon="139.78326636562227">
+    <tag k="mgrs_code" v="54SUE898431"/>
+    <tag k="local_x" v="89820.5978"/>
+    <tag k="local_y" v="43152.0303"/>
+    <tag k="ele" v="5.9099"/>
+  </node>
+  <node id="23" lat="35.626372598801595" lon="139.78388939065988">
+    <tag k="mgrs_code" v="54SUE898431"/>
+    <tag k="local_x" v="89877.4935"/>
+    <tag k="local_y" v="43189.8188"/>
+    <tag k="ele" v="12.2602"/>
+  </node>
+  <node id="207" lat="35.625526972158134" lon="139.78249307175062">
+    <tag k="mgrs_code" v="54SUE897430"/>
+    <tag k="local_x" v="89749.8853"/>
+    <tag k="local_y" v="43097.5899"/>
+    <tag k="ele" v="5.4342"/>
+  </node>
+  <node id="212" lat="35.6259529904892" lon="139.78331102601197">
+    <tag k="mgrs_code" v="54SUE898431"/>
+    <tag k="local_x" v="89824.5425"/>
+    <tag k="local_y" v="43143.9254"/>
+    <tag k="ele" v="6.0319"/>
+  </node>
+  <node id="213" lat="35.62629786487126" lon="139.7839588039869">
+    <tag k="mgrs_code" v="54SUE898431"/>
+    <tag k="local_x" v="89883.6769"/>
+    <tag k="local_y" v="43181.4519"/>
+    <tag k="ele" v="6.4513"/>
+  </node>
+  <way id="12">
+    <nd ref="10"/>
+    <nd ref="11"/>
+    <nd ref="17"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="dashed"/>
+    <tag k="lane_change" v="yes"/>
+  </way>
+  <way id="15">
+    <nd ref="13"/>
+    <nd ref="14"/>
+    <nd ref="22"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="21">
+    <nd ref="17"/>
+    <nd ref="20"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="dashed"/>
+    <tag k="lane_change" v="yes"/>
+  </way>
+  <way id="24">
+    <nd ref="22"/>
+    <nd ref="23"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="209">
+    <nd ref="207"/>
+    <nd ref="212"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="214">
+    <nd ref="212"/>
+    <nd ref="213"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <relation id="16">
+    <member type="way" role="left" ref="15"/>
+    <member type="way" role="right" ref="12"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+  <relation id="25">
+    <member type="way" role="left" ref="24"/>
+    <member type="way" role="right" ref="21"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+  <relation id="215">
+    <member type="way" role="left" ref="12"/>
+    <member type="way" role="right" ref="209"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+  <relation id="216">
+    <member type="way" role="left" ref="21"/>
+    <member type="way" role="right" ref="214"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+</osm>
diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/map_loader/test/lanelet2_map_loader_launch.test.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+# Copyright 2022 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.
+
+import os
+import unittest
+
+from ament_index_python import get_package_share_directory
+import launch
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch_testing
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+
+    lanelet2_map_path = os.path.join(
+        get_package_share_directory("map_loader"), "test/data/test_map.osm"
+    )
+
+    lanelet2_map_loader = Node(
+        package="map_loader",
+        executable="lanelet2_map_loader",
+        parameters=[{"lanelet2_map_path": lanelet2_map_path}],
+    )
+
+    context = {}
+
+    return (
+        LaunchDescription(
+            [
+                lanelet2_map_loader,
+                # Start test after 1s - gives time for the map_loader to finish initialization
+                launch.actions.TimerAction(
+                    period=1.0, actions=[launch_testing.actions.ReadyToTest()]
+                ),
+            ]
+        ),
+        context,
+    )
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+    def test_exit_code(self, proc_info):
+        # Check that process exits with code 0: no error
+        launch_testing.asserts.assertExitCodes(proc_info)