feat(planning_test_utils): update test manager for all planning modules

planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp

@@ -25,7 +25,7 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningIntefaceTestManager>();
+  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
@@ -39,7 +39,7 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
 
   node_options.arguments(
     {"--ros-args", "--params-file",
-     motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
+     motion_velocity_smoother_dir + "/config/test_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"});
 

planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp

@@ -21,38 +21,39 @@
 
 #include <vector>
 
-TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput)
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningIntefaceTestManager>();
+  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
-  test_manager->declareVehicleInfoParams(node_options);
-  test_manager->declareNearestSearchDistanceParams(node_options);
-
   const auto obstacle_cruise_planner_dir =
     ament_index_cpp::get_package_share_directory("obstacle_cruise_planner");
 
+  const auto planning_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("planning_test_utils");
+
   node_options.arguments(
-    {"--ros-args", "--params-file",
-     obstacle_cruise_planner_dir + "/config/default_common.param.yaml", "--params-file",
-     obstacle_cruise_planner_dir + "/config/obstacle_cruise_planner.param.yaml"});
+    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     "--params-file", obstacle_cruise_planner_dir + "/config/default_common.param.yaml",
+     "--params-file", obstacle_cruise_planner_dir + "/config/obstacle_cruise_planner.param.yaml"});
 
   auto test_target_node =
     std::make_shared<motion_planning::ObstacleCruisePlannerNode>(node_options);
 
   // publish necessary topics from test_manager
   test_manager->publishOdometry(test_target_node, "obstacle_cruise_planner/input/odometry");
-  test_manager->publishPointCloud(test_target_node, "obstacle_cruise_planner/input/vector_map");
   test_manager->publishPredictedObjects(test_target_node, "obstacle_cruise_planner/input/objects");
   test_manager->publishAcceleration(test_target_node, "obstacle_cruise_planner/input/acceleration");
 
-  // set subscriber for test_target_node
+  // set subscriber with topic name: obstacle_cruise_planner → test_node_
   test_manager->setTrajectorySubscriber("obstacle_cruise_planner/output/trajectory");
 
-  // setting topic name of subscribing topic
+  // set obstacle_cruise_planners input topic name(this topic is changed to test node):
   test_manager->setTrajectoryInputTopicName("obstacle_cruise_planner/input/trajectory");
 
   // test for normal trajectory

planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp

@@ -21,25 +21,28 @@
 
 #include <vector>
 
-TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput)
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningIntefaceTestManager>();
+  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
-  test_manager->declareVehicleInfoParams(node_options);
-  test_manager->declareNearestSearchDistanceParams(node_options);
-  node_options.append_parameter_override("enable_slow_down", false);
-
+  const auto planning_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("planning_test_utils");
   const auto obstacle_stop_planner_dir =
     ament_index_cpp::get_package_share_directory("obstacle_stop_planner");
 
+  node_options.append_parameter_override("enable_slow_down", false);
+
   node_options.arguments(
-    {"--ros-args", "--params-file", obstacle_stop_planner_dir + "/config/common.param.yaml",
-     "--params-file", obstacle_stop_planner_dir + "/config/adaptive_cruise_control.param.yaml",
-     "--params-file", obstacle_stop_planner_dir + "/config/obstacle_stop_planner.param.yaml"});
+    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
+     "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     "--params-file", obstacle_stop_planner_dir + "/config/common.param.yaml", "--params-file",
+     obstacle_stop_planner_dir + "/config/adaptive_cruise_control.param.yaml", "--params-file",
+     obstacle_stop_planner_dir + "/config/obstacle_stop_planner.param.yaml"});
 
   auto test_target_node = std::make_shared<motion_planning::ObstacleStopPlannerNode>(node_options);
 
@@ -51,10 +54,10 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu
   test_manager->publishExpandStopRange(
     test_target_node, "obstacle_stop_planner/input/expand_stop_range");
 
-  // set subscriber for test_target_node
+  // set subscriber with topic name: obstacle stop planner → test_node_
   test_manager->setTrajectorySubscriber("obstacle_stop_planner/output/trajectory");
 
-  // setting topic name of subscribing topic
+  // set obstacle stop planner's input topic name(this topic is changed to test node):
   test_manager->setTrajectoryInputTopicName("obstacle_stop_planner/input/trajectory");
 
   // test for normal trajectory

planning/planning_test_utils/CMakeLists.txt

@@ -9,4 +9,6 @@ ament_auto_add_library(planning_test_utils SHARED
 )
 
 ament_auto_package(INSTALL_TO_SHARE
+  config
+  test_map
 )