fix(map_loader): address deprecated warning for some environment (aut…

…owarefoundation#3188)

fix(map_loader): address deprecated warning for some version

Signed-off-by: kminoda <[email protected]>

map/map_loader/test/test_pointcloud_map_loader_module.cpp

@@ -0,0 +1,121 @@
+// Copyright 2023 The Autoware Contributors
+//
+// 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 "../src/pointcloud_map_loader/pointcloud_map_loader_module.hpp"
+#include "../src/pointcloud_map_loader/utils.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <gtest/gtest.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+
+#include <chrono>
+#include <filesystem>
+#include <memory>
+
+using std::chrono_literals::operator""ms;
+
+class TestPointcloudMapLoaderModule : public ::testing::Test
+{
+protected:
+  rclcpp::Node::SharedPtr node;
+  std::string temp_pcd_path;
+
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+    node = rclcpp::Node::make_shared("test_pointcloud_map_loader_module");
+
+    // Create a temporary PCD file with dummy point cloud data
+    pcl::PointCloud<pcl::PointXYZ> cloud;
+    cloud.width = 5;
+    cloud.height = 1;
+    cloud.is_dense = false;
+    cloud.points.resize(cloud.width * cloud.height);
+
+    for (size_t i = 0; i < cloud.points.size(); ++i) {
+      cloud.points[i].x = static_cast<float>(i);
+      cloud.points[i].y = static_cast<float>(i * 2);
+      cloud.points[i].z = static_cast<float>(i * 3);
+    }
+
+    temp_pcd_path = "/tmp/test_pointcloud_map_loader_module.pcd";
+    pcl::io::savePCDFileASCII(temp_pcd_path, cloud);
+  }
+
+  void TearDown() override
+  {
+    // Delete the temporary PCD file
+    std::filesystem::remove(temp_pcd_path);
+
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestPointcloudMapLoaderModule, LoadPCDFilesNoDownsampleTest)
+{
+  // Prepare PCD paths
+  std::vector<std::string> pcd_paths = {temp_pcd_path};
+
+  // Create PointcloudMapLoaderModule instance
+  PointcloudMapLoaderModule loader(node.get(), pcd_paths, "pointcloud_map_no_downsample", false);
+
+  // Create a subscriber to the published pointcloud topic
+  auto pointcloud_received = std::make_shared<bool>(false);
+  auto pointcloud_msg = std::make_shared<sensor_msgs::msg::PointCloud2>();
+
+  rclcpp::QoS durable_qos{10};
+  durable_qos.transient_local();  // Match publisher's Durability setting
+
+  auto pointcloud_sub = node->create_subscription<sensor_msgs::msg::PointCloud2>(
+    "pointcloud_map_no_downsample", durable_qos,
+    [pointcloud_received, pointcloud_msg](const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) {
+      *pointcloud_received = true;
+      *pointcloud_msg = *msg;
+    });
+
+  // Spin until pointcloud is received or timeout occurs
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+  auto start_time = node->now();
+  while (!*pointcloud_received && (node->now() - start_time).seconds() < 3) {
+    executor.spin_some(50ms);
+  }
+
+  // Check if the point cloud is received and the content is as expected
+  ASSERT_TRUE(*pointcloud_received);
+
+  // Convert the received point cloud to pcl::PointCloudpcl::PointXYZ
+  pcl::PointCloud<pcl::PointXYZ> received_cloud;
+  pcl::fromROSMsg(*pointcloud_msg, received_cloud);
+
+  // Check if the received point cloud matches the content of the temporary PCD file
+  ASSERT_EQ(static_cast<int>(received_cloud.width), 5);
+  ASSERT_EQ(static_cast<int>(received_cloud.height), 1);
+
+  for (size_t i = 0; i < received_cloud.points.size(); ++i) {
+    EXPECT_FLOAT_EQ(received_cloud.points[i].x, static_cast<float>(i));
+    EXPECT_FLOAT_EQ(received_cloud.points[i].y, static_cast<float>(i * 2));
+    EXPECT_FLOAT_EQ(received_cloud.points[i].z, static_cast<float>(i * 3));
+  }
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}