test(planning_validator): add planning interface test for planning_validator

planning/planning_validator/CMakeLists.txt

@@ -51,6 +51,8 @@ if(BUILD_TESTING)
     test/src/test_planning_validator_functions.cpp
     test/src/test_planning_validator_helper.cpp
     test/src/test_planning_validator_pubsub.cpp
+    test/src/test_${PROJECT_NAME}_node_interface.cpp
+
   )
   ament_target_dependencies(test_planning_validator
     rclcpp

planning/planning_validator/package.xml

@@ -20,6 +20,7 @@
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
+  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_autoware_utils</depend>

planning/planning_validator/test/src/test_planning_validator_node_interface.cpp

@@ -0,0 +1,57 @@
+// 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 "planning_interface_test_manager/planning_interface_test_manager.hpp"
+#include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp"
+#include "planning_validator/planning_validator.hpp"
+
+#include <gtest/gtest.h>
+
+#include <vector>
+
+TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
+{
+  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+
+  auto node_options = rclcpp::NodeOptions{};
+
+  const auto planning_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("planning_test_utils");
+
+  const auto planning_validator_dir =
+    ament_index_cpp::get_package_share_directory("planning_validator");
+
+  node_options.arguments(
+    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/vehicle_info.param.yaml",
+     "--params-file", planning_validator_dir + "/config/planning_validator.param.yaml"});
+
+  auto test_target_node = std::make_shared<planning_validator::PlanningValidator>(node_options);
+
+  // publish necessary topics from test_manager
+  test_manager->publishOdometry(test_target_node, "planning_validator/input/kinematics");
+
+  // set subscriber with topic name: planning_validator → test_node_
+  test_manager->setTrajectorySubscriber("planning_validator/output/trajectory");
+
+  // set planning_validator's input topic name(this topic is changed to test node)
+  test_manager->setTrajectoryInputTopicName("planning_validator/input/trajectory");
+
+  // test for normal trajectory
+  ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node));
+  EXPECT_GE(test_manager->getReceivedTopicNum(), 1);
+
+  // test for trajectory with empty/one point/overlapping point
+  test_manager->testWithAbnormalTrajectory(test_target_node);
+}