Merge branch 'main' into feat/sensing_point_type

.github/workflows/build-and-test-differential-arm64.yaml

@@ -32,10 +32,14 @@ jobs:
             container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
-      - name: Check out repository
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Show disk space before the tasks
         run: df -h

.github/workflows/build-and-test-differential.yaml

@@ -31,10 +31,14 @@ jobs:
             container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
-      - name: Check out repository
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Show disk space before the tasks
         run: df -h

.github/workflows/clang-tidy-differential.yaml

@@ -14,6 +14,8 @@ jobs:
       label: tag:run-clang-tidy-differential
 
   clang-tidy-differential:
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: ubuntu-latest
     container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
     steps:

common/.pages

@@ -3,6 +3,7 @@ nav:
   - 'Testing Libraries':
     - 'autoware_testing': common/autoware_testing/design/autoware_testing-design
     - 'fake_test_node': common/fake_test_node/design/fake_test_node-design
+    - 'Test Utils': common/autoware_test_utils
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons

planning/planning_test_utils/CMakeLists.txt → common/autoware_test_utils/CMakeLists.txt

@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.14)
-project(planning_test_utils)
+project(autoware_test_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(planning_test_utils SHARED
-  src/planning_test_utils.cpp)
+ament_auto_add_library(autoware_test_utils SHARED
+  src/autoware_test_utils.cpp)
 
 ament_auto_add_library(mock_data_parser SHARED
   src/mock_data_parser.cpp)

planning/planning_test_utils/README.md → common/autoware_test_utils/README.md

@@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A
 
 ## Available Maps
 
-The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_test_utils/test_map)
+The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map)
 
 ### Common
 

planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp → common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

@@ -12,11 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
-#define PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
-
-#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "rclcpp/rclcpp.hpp"
+#ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
+#define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
 #include <component_interface_specs/planning.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
@@ -51,10 +48,9 @@
 #include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
-namespace test_utils
+namespace autoware::test_utils
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_map_msgs::msg::LaneletMapBin;
@@ -174,6 +170,45 @@ LaneletRoute makeNormalRoute();
  */
 OccupancyGrid makeCostMapMsg(size_t width = 150, size_t height = 150, double resolution = 0.2);
 
+/**
+ * @brief Get the absolute path to the lanelet map file.
+ *
+ * This function retrieves the absolute path to a lanelet map file located in the
+ * package's share directory under the "test_map" folder.
+ *
+ * @param package_name The name of the package containing the map file.
+ * @param map_filename The name of the map file.
+ * @return A string representing the absolute path to the lanelet map file.
+ */
+std::string get_absolute_path_to_lanelet_map(
+  const std::string & package_name, const std::string & map_filename);
+
+/**
+ * @brief Get the absolute path to the route file.
+ *
+ * This function retrieves the absolute path to a route file located in the
+ * package's share directory under the "test_route" folder.
+ *
+ * @param package_name The name of the package containing the route file.
+ * @param route_filename The name of the route file.
+ * @return A string representing the absolute path to the route file.
+ */
+std::string get_absolute_path_to_route(
+  const std::string & package_name, const std::string & route_filename);
+
+/**
+ * @brief Get the absolute path to the config file.
+ *
+ * This function retrieves the absolute path to a route file located in the
+ * package's share directory under the "config" folder.
+ *
+ * @param package_name The name of the package containing the route file.
+ * @param route_filename The name of the config file.
+ * @return A string representing the absolute path to the config file.
+ */
+std::string get_absolute_path_to_config(
+  const std::string & package_name, const std::string & config_filename);
+
 /**
  * @brief Creates a LaneletMapBin message from a Lanelet map file.
  *
@@ -191,7 +226,7 @@ LaneletMapBin make_map_bin_msg(
  * @brief Creates a LaneletMapBin message using a predefined Lanelet2 map file.
  *
  * This function loads a lanelet2_map.osm from the test_map folder in the
- * planning_test_utils package, overwrites the centerline with a resolution of 5.0,
+ * autoware_test_utils package, overwrites the centerline with a resolution of 5.0,
  * and converts the map to a LaneletMapBin message.
  *
  * @return A LaneletMapBin message containing the map data.
@@ -299,7 +334,7 @@ void updateNodeOptions(
  * @brief Loads a PathWithLaneId message from a YAML file.
  *
  * This function loads a PathWithLaneId message from a YAML file located in the
- * planning_test_utils package.
+ * autoware_test_utils package.
  *
  * @return A PathWithLaneId message containing the loaded data.
  */
@@ -468,15 +503,15 @@ void publishToTargetNode(
     throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty");
   }
 
-  test_utils::setPublisher<T>(test_node, topic_name, publisher);
+  autoware::test_utils::setPublisher<T>(test_node, topic_name, publisher);
   publisher->publish(data);
 
   if (target_node->count_subscribers(topic_name) == 0) {
     throw std::runtime_error("No subscriber for " + topic_name);
   }
-  test_utils::spinSomeNodes(test_node, target_node, repeat_count);
+  autoware::test_utils::spinSomeNodes(test_node, target_node, repeat_count);
 }
 
-}  // namespace test_utils
+}  // namespace autoware::test_utils
 
-#endif  // PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
+#endif  // AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_

planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp → common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
-#define PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
 
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace test_utils
+namespace autoware::test_utils
 {
 using autoware_planning_msgs::msg::LaneletPrimitive;
 using autoware_planning_msgs::msg::LaneletRoute;
@@ -41,6 +41,6 @@ std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node);
 std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
 
 LaneletRoute parse_lanelet_route_file(const std::string & filename);
-}  // namespace test_utils
+}  // namespace autoware::test_utils
 
-#endif  // PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#endif  // AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_

planning/planning_test_utils/package.xml → common/autoware_test_utils/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>planning_test_utils</name>
+  <name>autoware_test_utils</name>
   <version>0.1.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="[email protected]">Kyoichi Sugahara</maintainer>

planning/planning_test_utils/src/planning_test_utils.cpp → common/autoware_test_utils/src/autoware_test_utils.cpp

@@ -12,8 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "planning_test_utils/planning_test_utils.hpp"
-namespace test_utils
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node.hpp>
+
+#include <utility>
+
+namespace autoware::test_utils
 {
 
 geometry_msgs::msg::Pose createPose(
@@ -103,6 +111,27 @@ OccupancyGrid makeCostMapMsg(size_t width, size_t height, double resolution)
   return costmap_msg;
 }
 
+std::string get_absolute_path_to_lanelet_map(
+  const std::string & package_name, const std::string & map_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/test_map/" + map_filename;
+}
+
+std::string get_absolute_path_to_route(
+  const std::string & package_name, const std::string & route_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/test_route/" + route_filename;
+}
+
+std::string get_absolute_path_to_config(
+  const std::string & package_name, const std::string & config_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/config/" + config_filename;
+}
+
 LaneletMapBin make_map_bin_msg(
   const std::string & absolute_path, const double center_line_resolution)
 {
@@ -122,12 +151,8 @@ LaneletMapBin make_map_bin_msg(
 
 LaneletMapBin makeMapBinMsg()
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
-  double center_line_resolution = 5.0;
-
-  return make_map_bin_msg(lanelet2_path, center_line_resolution);
+  return make_map_bin_msg(
+    get_absolute_path_to_lanelet_map("autoware_test_utils", "lanelet2_map.osm"));
 }
 
 Odometry makeOdometry(const double shift)
@@ -147,7 +172,7 @@ Odometry makeInitialPose(const double shift)
   const auto shift_y = shift * std::cos(yaw);
   const std::array<double, 4> start_pose{
     3722.16015625 + shift_x, 73723.515625 + shift_y, 0.233112560494183, yaw};
-  current_odometry.pose.pose = test_utils::createPose(start_pose);
+  current_odometry.pose.pose = autoware::test_utils::createPose(start_pose);
   current_odometry.header.frame_id = "map";
   return current_odometry;
 }
@@ -251,9 +276,8 @@ void updateNodeOptions(
 
 PathWithLaneId loadPathWithLaneIdInYaml()
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto yaml_path = planning_test_utils_dir + "/config/path_with_lane_id_data.yaml";
+  const auto yaml_path =
+    get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml");
   YAML::Node yaml_node = YAML::LoadFile(yaml_path);
   PathWithLaneId path_msg;
 
@@ -311,4 +335,4 @@ PathWithLaneId loadPathWithLaneIdInYaml()
   return path_msg;
 }
 
-}  // namespace test_utils
+}  // namespace autoware::test_utils

planning/planning_test_utils/src/mock_data_parser.cpp → common/autoware_test_utils/src/mock_data_parser.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "planning_test_utils/mock_data_parser.hpp"
+#include "autoware_test_utils/mock_data_parser.hpp"
 
 #include <rclcpp/logging.hpp>
 
@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace test_utils
+namespace autoware::test_utils
 {
 Pose parse_pose(const YAML::Node & node)
 {
@@ -85,8 +85,8 @@ LaneletRoute parse_lanelet_route_file(const std::string & filename)
     lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose();
     lanelet_route.segments = parse_segments(config["segments"]);
   } catch (const std::exception & e) {
-    RCLCPP_DEBUG(rclcpp::get_logger("planning_test_utils"), "Exception caught: %s", e.what());
+    RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what());
   }
   return lanelet_route;
 }
-}  // namespace test_utils
+}  // namespace autoware::test_utils

planning/planning_test_utils/test/test_mock_data_parser.cpp → common/autoware_test_utils/test/test_mock_data_parser.cpp

@@ -16,9 +16,9 @@
 
 // Assuming the parseRouteFile function is in 'RouteHandler.h'
 #include "ament_index_cpp/get_package_share_directory.hpp"
-#include "planning_test_utils/mock_data_parser.hpp"
+#include "autoware_test_utils/mock_data_parser.hpp"
 
-namespace test_utils
+namespace autoware::test_utils
 {
 // Example YAML structure as a string for testing
 const char g_complete_yaml[] = R"(
@@ -94,10 +94,10 @@ TEST(ParseFunctions, CompleteYAMLTest)
 
 TEST(ParseFunction, CompleteFromFilename)
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto autoware_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto parser_test_route =
-    planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
+    autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
 
   const auto lanelet_route = parse_lanelet_route_file(parser_test_route);
   EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
@@ -132,4 +132,4 @@ TEST(ParseFunction, CompleteFromFilename)
   EXPECT_EQ(segment1.primitives[3].id, 88);
   EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
 }
-}  // namespace test_utils
+}  // namespace autoware::test_utils