test(behavior_velocity_planner): add interface test (#3401)

* add planning_interface_test_manager class Signed-off-by: kyoichi-sugahara <[email protected]> * add counter function Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for motion_velocity_smoother Signed-off-by: kyoichi-sugahara <[email protected]> * add param in default_motion_velocity_smoother,param.yaml Signed-off-by: kyoichi-sugahara <[email protected]> * successfully launch target node Signed-off-by: kyoichi-sugahara <[email protected]> * successfully build the test Signed-off-by: kyoichi-sugahara <[email protected]> * add test for test_motion_velocity_smoother Signed-off-by: kyoichi-sugahara <[email protected]> * add abnormal trajectory test Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary part Signed-off-by: kyoichi-sugahara <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * run pre-commit Signed-off-by: kyoichi-sugahara <[email protected]> * add declaration Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * Refactor callback functions for standardization Signed-off-by: kyoichi-sugahara <[email protected]> * refacotoring Signed-off-by: kyoichi-sugahara <[email protected]> * refactored Signed-off-by: kyoichi-sugahara <[email protected]> * Refactor functions into a single template function Signed-off-by: kyoichi-sugahara <[email protected]> * Refactor Signed-off-by: kyoichi-sugahara <[email protected]> * style(pre-commit): autofix * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * relete unnecessary definition Signed-off-by: kyoichi-sugahara <[email protected]> * Revert "delete unnecessary definition" This reverts commit 6cd13f8. Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * delete module dependent part Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary arg Signed-off-by: kyoichi-sugahara <[email protected]> * apply motion_velocity_smoother change Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for obstacle stop planner Signed-off-by: kyoichi-sugahara <[email protected]> * run pre-commit Signed-off-by: kyoichi-sugahara <[email protected]> * add test fot obstacle_cruise_planner Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add test fot planning_vaildator Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for freespace_planner_node Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for obstacle_stop_planner with slow down Signed-off-by: kyoichi-sugahara <[email protected]> * add part of interface test for freespace Signed-off-by: kyoichi-sugahara <[email protected]> * change package name Signed-off-by: kyoichi-sugahara <[email protected]> * apply change of package name Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * fix build error Signed-off-by: kyoichi-sugahara <[email protected]> * temp commit for debug Signed-off-by: kyoichi-sugahara <[email protected]> * add planning interface test manager for scenario selector Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * update parameter Signed-off-by: kyoichi-sugahara <[email protected]> * temp for behavior_path_planner Signed-off-by: kyoichi-sugahara <[email protected]> * add param file Signed-off-by: kyoichi-sugahara <[email protected]> * add test free space planner module Signed-off-by: kyoichi-sugahara <[email protected]> * update map Signed-off-by: kyoichi-sugahara <[email protected]> * add test for behavior path planner Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * pass freespace test Signed-off-by: kyoichi-sugahara <[email protected]> * pass freespace test Signed-off-by: kyoichi-sugahara <[email protected]> * update map Signed-off-by: kyoichi-sugahara <[email protected]> * update map detection area Signed-off-by: kyoichi-sugahara <[email protected]> * add no stopping area Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * for print debug Signed-off-by: kyoichi-sugahara <[email protected]> * update param Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add param file Signed-off-by: kyoichi-sugahara <[email protected]> * refactor(behavior_path_planner): remove unnecessary functions (#3271) * refactor(behavior_path_planner): remove unnecessary functions Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> --------- Signed-off-by: yutaka <[email protected]> * Revert "temp" This reverts commit b82805e. Signed-off-by: kyoichi-sugahara <[email protected]> * suppress build error (-Werror=pedantic) Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for behavior_velocity_planner * build success Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add param Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * pass test Signed-off-by: kyoichi-sugahara <[email protected]> * pass test Signed-off-by: kyoichi-sugahara <[email protected]> * build success Signed-off-by: kyoichi-sugahara <[email protected]> * update param Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * delete param file Signed-off-by: kyoichi-sugahara <[email protected]> * Resolve differences outside of parameter files Signed-off-by: kyoichi-sugahara <[email protected]> * update test manager Signed-off-by: kyoichi-sugahara <[email protected]> * update test manager Signed-off-by: kyoichi-sugahara <[email protected]> * upload cloud map Signed-off-by: kyoichi-sugahara <[email protected]> * fix typo Signed-off-by: kyoichi-sugahara <[email protected]> * refactor utils Signed-off-by: kyoichi-sugahara <[email protected]> * refactor utils Signed-off-by: kyoichi-sugahara <[email protected]> * refactor test_manager Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * modify test for obstacle cruise planner Signed-off-by: kyoichi-sugahara <[email protected]> * modify test for obstacle_stop_planner Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * revert parameter change Signed-off-by: kyoichi-sugahara <[email protected]> * add obstacle_avoidance_planner Signed-off-by: kyoichi-sugahara <[email protected]> * Revert "add obstacle_avoidance_planner" This reverts commit efb5d50. Signed-off-by: kyoichi-sugahara <[email protected]> * add obstacle_avoidance_planner Signed-off-by: kyoichi-sugahara <[email protected]> * change file name Signed-off-by: kyoichi-sugahara <[email protected]> * change file name Signed-off-by: kyoichi-sugahara <[email protected]> * modify CMake Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * build success Signed-off-by: kyoichi-sugahara <[email protected]> * test success Signed-off-by: kyoichi-sugahara <[email protected]> * execption test is added Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary debug code Signed-off-by: kyoichi-sugahara <[email protected]> * add prototype declaration Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary comments Signed-off-by: kyoichi-sugahara <[email protected]> * style(pre-commit): autofix * feat(planning_test_utils): update test manager for all planning modules (#3364) * add planning_interface_test_manager class Signed-off-by: kyoichi-sugahara <[email protected]> * add counter function Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for motion_velocity_smoother Signed-off-by: kyoichi-sugahara <[email protected]> * add param in default_motion_velocity_smoother,param.yaml Signed-off-by: kyoichi-sugahara <[email protected]> * successfully launch target node Signed-off-by: kyoichi-sugahara <[email protected]> * successfully build the test Signed-off-by: kyoichi-sugahara <[email protected]> * add test for test_motion_velocity_smoother Signed-off-by: kyoichi-sugahara <[email protected]> * add abnormal trajectory test Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary part Signed-off-by: kyoichi-sugahara <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * run pre-commit Signed-off-by: kyoichi-sugahara <[email protected]> * add declaration Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * Refactor callback functions for standardization Signed-off-by: kyoichi-sugahara <[email protected]> * refacotoring Signed-off-by: kyoichi-sugahara <[email protected]> * refactored Signed-off-by: kyoichi-sugahara <[email protected]> * Refactor functions into a single template function Signed-off-by: kyoichi-sugahara <[email protected]> * Refactor Signed-off-by: kyoichi-sugahara <[email protected]> * style(pre-commit): autofix * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * relete unnecessary definition Signed-off-by: kyoichi-sugahara <[email protected]> * Revert "delete unnecessary definition" This reverts commit 6cd13f8. Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * delete module dependent part Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary arg Signed-off-by: kyoichi-sugahara <[email protected]> * apply motion_velocity_smoother change Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for obstacle stop planner Signed-off-by: kyoichi-sugahara <[email protected]> * run pre-commit Signed-off-by: kyoichi-sugahara <[email protected]> * add test fot obstacle_cruise_planner Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add test fot planning_vaildator Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for freespace_planner_node Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for obstacle_stop_planner with slow down Signed-off-by: kyoichi-sugahara <[email protected]> * add part of interface test for freespace Signed-off-by: kyoichi-sugahara <[email protected]> * change package name Signed-off-by: kyoichi-sugahara <[email protected]> * apply change of package name Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * fix build error Signed-off-by: kyoichi-sugahara <[email protected]> * temp commit for debug Signed-off-by: kyoichi-sugahara <[email protected]> * add planning interface test manager for scenario selector Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * update parameter Signed-off-by: kyoichi-sugahara <[email protected]> * temp for behavior_path_planner Signed-off-by: kyoichi-sugahara <[email protected]> * add param file Signed-off-by: kyoichi-sugahara <[email protected]> * add test free space planner module Signed-off-by: kyoichi-sugahara <[email protected]> * update map Signed-off-by: kyoichi-sugahara <[email protected]> * add test for behavior path planner Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * pass freespace test Signed-off-by: kyoichi-sugahara <[email protected]> * pass freespace test Signed-off-by: kyoichi-sugahara <[email protected]> * update map Signed-off-by: kyoichi-sugahara <[email protected]> * update map detection area Signed-off-by: kyoichi-sugahara <[email protected]> * add no stopping area Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * for print debug Signed-off-by: kyoichi-sugahara <[email protected]> * update param Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add param file Signed-off-by: kyoichi-sugahara <[email protected]> * refactor(behavior_path_planner): remove unnecessary functions (#3271) * refactor(behavior_path_planner): remove unnecessary functions Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> --------- Signed-off-by: yutaka <[email protected]> * Revert "temp" This reverts commit b82805e. Signed-off-by: kyoichi-sugahara <[email protected]> * suppress build error (-Werror=pedantic) Signed-off-by: kyoichi-sugahara <[email protected]> * add interface test for behavior_velocity_planner * build success Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * add param Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * pass test Signed-off-by: kyoichi-sugahara <[email protected]> * pass test Signed-off-by: kyoichi-sugahara <[email protected]> * build success Signed-off-by: kyoichi-sugahara <[email protected]> * update param Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * delete param file Signed-off-by: kyoichi-sugahara <[email protected]> * Resolve differences outside of parameter files Signed-off-by: kyoichi-sugahara <[email protected]> * update test manager Signed-off-by: kyoichi-sugahara <[email protected]> * update test manager Signed-off-by: kyoichi-sugahara <[email protected]> * upload cloud map Signed-off-by: kyoichi-sugahara <[email protected]> * fix typo Signed-off-by: kyoichi-sugahara <[email protected]> * refactor utils Signed-off-by: kyoichi-sugahara <[email protected]> * refactor utils Signed-off-by: kyoichi-sugahara <[email protected]> * refactor test_manager Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * modify test for obstacle cruise planner Signed-off-by: kyoichi-sugahara <[email protected]> * modify test for obstacle_stop_planner Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * revert parameter change Signed-off-by: kyoichi-sugahara <[email protected]> * add obstacle_avoidance_planner Signed-off-by: kyoichi-sugahara <[email protected]> * Revert "add obstacle_avoidance_planner" This reverts commit efb5d50. Signed-off-by: kyoichi-sugahara <[email protected]> * change file name Signed-off-by: kyoichi-sugahara <[email protected]> * change file name Signed-off-by: kyoichi-sugahara <[email protected]> * modify CMake Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]> Signed-off-by: yutaka <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Shimizu <[email protected]> Signed-off-by: kyoichi-sugahara <[email protected]> * fix config name Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary files Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * temp Signed-off-by: kyoichi-sugahara <[email protected]> * update test_manager Signed-off-by: kyoichi-sugahara <[email protected]> * update test_manager Signed-off-by: kyoichi-sugahara <[email protected]> * fix node name in commnet Signed-off-by: kyoichi-sugahara <[email protected]> * fix build error Signed-off-by: kyoichi-sugahara <[email protected]> * fix build error Signed-off-by: kyoichi-sugahara <[email protected]> * delete unnecessary publisher from test_node Signed-off-by: kyoichi-sugahara <[email protected]> * set flag for launch scene module Signed-off-by: kyoichi-sugahara <[email protected]> * add ego pose test with comment out Signed-off-by: kyoichi-sugahara <[email protected]> * add username in TODO Signed-off-by: kyoichi-sugahara <[email protected]> * enable off-track test Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]> Signed-off-by: yutaka <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Shimizu <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
autowarefoundation · May 12, 2023 · a54ad62 · a54ad62
1 parent a178168
commit a54ad62
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diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt
@@ -87,6 +87,14 @@ if(BUILD_TESTING)
     gtest_main
     behavior_velocity_planner
   )
+
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    test/src/test_${PROJECT_NAME}_node_interface.cpp
+  )
+  target_link_libraries(test_${PROJECT_NAME}
+    gtest_main
+    ${PROJECT_NAME}
+  )
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE

diff --git a/...ning/behavior_velocity_planner/test/src/test_behavior_velocity_planner_node_interface.cpp b/...ning/behavior_velocity_planner/test/src/test_behavior_velocity_planner_node_interface.cpp
@@ -0,0 +1,156 @@
+// 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 "behavior_velocity_planner/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 <cmath>
+#include <vector>
+
+using behavior_velocity_planner::BehaviorVelocityPlannerNode;
+using planning_test_utils::PlanningInterfaceTestManager;
+
+std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
+{
+  auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
+
+  // set subscriber with topic name: behavior_velocity_planner → test_node_
+  test_manager->setPathSubscriber("behavior_velocity_planner_node/output/path");
+
+  // set behavior_velocity_planner node's input topic name(this topic is changed to test node)
+  test_manager->setPathWithLaneIdTopicName(
+    "behavior_velocity_planner_node/input/path_with_lane_id");
+
+  test_manager->setInitialPoseTopicName("behavior_velocity_planner_node/input/vehicle_odometry");
+  test_manager->setOdometryTopicName("behavior_velocity_planner_node/input/vehicle_odometry");
+
+  return test_manager;
+}
+
+std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
+{
+  auto node_options = rclcpp::NodeOptions{};
+
+  const auto planning_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto behavior_velocity_planner_dir =
+    ament_index_cpp::get_package_share_directory("behavior_velocity_planner");
+  const auto motion_velocity_smoother_dir =
+    ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
+
+  test_utils::updateNodeOptions(
+    node_options,
+    {planning_test_utils_dir + "/config/test_common.param.yaml",
+     planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
+     motion_velocity_smoother_dir + "/config/Analytical.param.yaml",
+     behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
+     behavior_velocity_planner_dir + "/config/blind_spot.param.yaml",
+     behavior_velocity_planner_dir + "/config/crosswalk.param.yaml",
+     behavior_velocity_planner_dir + "/config/detection_area.param.yaml",
+     behavior_velocity_planner_dir + "/config/intersection.param.yaml",
+     behavior_velocity_planner_dir + "/config/no_stopping_area.param.yaml",
+     behavior_velocity_planner_dir + "/config/occlusion_spot.param.yaml",
+     behavior_velocity_planner_dir + "/config/run_out.param.yaml",
+     behavior_velocity_planner_dir + "/config/speed_bump.param.yaml",
+     behavior_velocity_planner_dir + "/config/stop_line.param.yaml",
+     behavior_velocity_planner_dir + "/config/traffic_light.param.yaml",
+     behavior_velocity_planner_dir + "/config/virtual_traffic_light.param.yaml",
+     behavior_velocity_planner_dir + "/config/out_of_lane.param.yaml"});
+
+  node_options.append_parameter_override("launch_stop_line", true);
+  node_options.append_parameter_override("launch_crosswalk", true);
+  node_options.append_parameter_override("launch_traffic_light", true);
+  node_options.append_parameter_override("launch_intersection", true);
+  node_options.append_parameter_override("launch_blind_spot", true);
+  node_options.append_parameter_override("launch_detection_area", true);
+  node_options.append_parameter_override(
+    "launch_virtual_traffic_light", false);  // TODO(Kyoichi Sugahara) set to true
+  node_options.append_parameter_override(
+    "launch_occlusion_spot", false);  // TODO(Kyoichi Sugahara) set to true
+  node_options.append_parameter_override("launch_no_stopping_area", true);
+  node_options.append_parameter_override(
+    "launch_run_out", false);  // TODO(Kyoichi Sugahara) set to true
+  node_options.append_parameter_override(
+    "launch_speed_bump", false);  // TODO(Kyoichi Sugahara) set to true
+  node_options.append_parameter_override("launch_out_of_lane", true);
+
+  return std::make_shared<BehaviorVelocityPlannerNode>(node_options);
+}
+
+void publishMandatoryTopics(
+  std::shared_ptr<PlanningInterfaceTestManager> test_manager,
+  std::shared_ptr<BehaviorVelocityPlannerNode> test_target_node)
+{
+  // publish necessary topics from test_manager
+  test_manager->publishTF(test_target_node, "/tf");
+  test_manager->publishAcceleration(test_target_node, "behavior_velocity_planner_node/input/accel");
+  test_manager->publishPredictedObjects(
+    test_target_node, "behavior_velocity_planner_node/input/dynamic_objects");
+  test_manager->publishPointCloud(
+    test_target_node, "behavior_velocity_planner_node/input/no_ground_pointcloud");
+  test_manager->publishOdometry(
+    test_target_node, "behavior_velocity_planner_node/input/vehicle_odometry");
+  test_manager->publishAcceleration(test_target_node, "behavior_velocity_planner_node/input/accel");
+  test_manager->publishMap(test_target_node, "behavior_velocity_planner_node/input/vector_map");
+  test_manager->publishTrafficSignals(
+    test_target_node, "behavior_velocity_planner_node/input/traffic_signals");
+  test_manager->publishMaxVelocity(
+    test_target_node, "behavior_velocity_planner_node/input/external_velocity_limit_mps");
+  test_manager->publishVirtualTrafficLightState(
+    test_target_node, "behavior_velocity_planner_node/input/virtual_traffic_light_states");
+  test_manager->publishOccupancyGrid(
+    test_target_node, "behavior_velocity_planner_node/input/occupancy_grid");
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionPathWithLaneID)
+{
+  rclcpp::init(0, nullptr);
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+
+  publishMandatoryTopics(test_manager, test_target_node);
+
+  // test with nominal path_with_lane_id
+  ASSERT_NO_THROW(test_manager->testWithNominalPathWithLaneId(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test with empty path_with_lane_id
+  ASSERT_NO_THROW(test_manager->testWithAbnormalPathWithLaneId(test_target_node));
+  rclcpp::shutdown();
+}
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
+{
+  rclcpp::init(0, nullptr);
+
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+  publishMandatoryTopics(test_manager, test_target_node);
+
+  // test for normal trajectory
+  ASSERT_NO_THROW(test_manager->testWithNominalPathWithLaneId(test_target_node));
+
+  // make sure behavior_path_planner is running
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  ASSERT_NO_THROW(test_manager->testOffTrackFromPathWithLaneId(test_target_node));
+
+  rclcpp::shutdown();
+}
diff --git a/...ng_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp b/...ng_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp
@@ -114,11 +114,7 @@ class PlanningInterfaceTestManager
   void publishLateralOffset(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishOperationModeState(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishTrafficSignals(rclcpp::Node::SharedPtr target_node, std::string topic_name);
-  void publishExternalTrafficSignals(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishVirtualTrafficLightState(rclcpp::Node::SharedPtr target_node, std::string topic_name);
-  void publishExternalCrosswalkStates(rclcpp::Node::SharedPtr target_node, std::string topic_name);
-  void publishExternalIntersectionStates(
-    rclcpp::Node::SharedPtr target_node, std::string topic_name);
 
   void setTrajectoryInputTopicName(std::string topic_name);
   void setParkingTrajectoryInputTopicName(std::string topic_name);
@@ -188,10 +184,7 @@ class PlanningInterfaceTestManager
   rclcpp::Publisher<LateralOffset>::SharedPtr lateral_offset_pub_;
   rclcpp::Publisher<OperationModeState>::SharedPtr operation_mode_state_pub_;
   rclcpp::Publisher<TrafficSignalArray>::SharedPtr traffic_signals_pub_;
-  rclcpp::Publisher<TrafficSignalArray>::SharedPtr external_traffic_signals_pub_;
   rclcpp::Publisher<VirtualTrafficLightStateArray>::SharedPtr virtual_traffic_light_states_pub_;
-  rclcpp::Publisher<CrosswalkStatus>::SharedPtr external_crosswalk_states_pub_;
-  rclcpp::Publisher<IntersectionStatus>::SharedPtr external_intersection_states_pub_;
 
   // Subscriber
   rclcpp::Subscription<Trajectory>::SharedPtr traj_sub_;

diff --git a/planning/planning_test_utils/src/planning_interface_test_manager.cpp b/planning/planning_test_utils/src/planning_interface_test_manager.cpp
@@ -163,31 +163,13 @@ void PlanningInterfaceTestManager::publishTrafficSignals(
     test_node_, target_node, topic_name, traffic_signals_pub_, TrafficSignalArray{});
 }
 
-void PlanningInterfaceTestManager::publishExternalTrafficSignals(
-  rclcpp::Node::SharedPtr target_node, std::string topic_name)
-{
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, external_traffic_signals_pub_, TrafficSignalArray{});
-}
 void PlanningInterfaceTestManager::publishVirtualTrafficLightState(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
   test_utils::publishToTargetNode(
     test_node_, target_node, topic_name, virtual_traffic_light_states_pub_,
     VirtualTrafficLightStateArray{});
 }
-void PlanningInterfaceTestManager::publishExternalCrosswalkStates(
-  rclcpp::Node::SharedPtr target_node, std::string topic_name)
-{
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, external_crosswalk_states_pub_, CrosswalkStatus{});
-}
-void PlanningInterfaceTestManager::publishExternalIntersectionStates(
-  rclcpp::Node::SharedPtr target_node, std::string topic_name)
-{
-  test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, external_intersection_states_pub_, IntersectionStatus{});
-}
 
 void PlanningInterfaceTestManager::publishInitialPoseTF(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)