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Fix basic_autonomy unit test #2458

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merged 2 commits into from
Nov 7, 2024
Merged

Fix basic_autonomy unit test #2458

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b206045
fix is_valid_yield and uncomment unit test
adev4a Nov 7, 2024
7632ebe
enable all unit tests
adev4a Nov 7, 2024
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1 change: 1 addition & 0 deletions basic_autonomy/src/basic_autonomy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1318,6 +1318,7 @@ namespace basic_autonomy
if (yield_plan.trajectory_points.size() < 2)
{
RCLCPP_WARN(node_handler->get_logger(), "Invalid Yield Trajectory");
return false;
}

RCLCPP_DEBUG_STREAM(node_handler->get_logger(), "Yield Trajectory Time" << rclcpp::Time(yield_plan.trajectory_points[0].target_time).seconds());
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15 changes: 5 additions & 10 deletions basic_autonomy/test/test_waypoint_generation.cpp
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Expand Up @@ -886,10 +886,6 @@ namespace basic_autonomy
detailed_config, visited_lanelets), std::invalid_argument);
}

// These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
// Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>

/**
TEST(BasicAutonomyTest, test_verify_yield)
{
auto node = std::make_shared<carma_ros2_utils::CarmaLifecycleNode>(rclcpp::NodeOptions());
Expand Down Expand Up @@ -920,7 +916,7 @@ namespace basic_autonomy
ASSERT_TRUE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp));

carma_planning_msgs::msg::TrajectoryPlan tp2;

//Test insufficient trajectory points
carma_planning_msgs::msg::TrajectoryPlanPoint point_4;
point_4.x = 5.0;
point_4.y = 0.0;
Expand All @@ -931,25 +927,24 @@ namespace basic_autonomy
ASSERT_FALSE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp2));

carma_planning_msgs::msg::TrajectoryPlan tp3;

// Test old trajectory
carma_planning_msgs::msg::TrajectoryPlanPoint point_5;
point_5.x = 5.0;
point_5.y = 0.0;
point_5.target_time = startTime;
point_5.target_time = rclcpp::Time(0,0);
point_5.lane_id = "1";
tp3.trajectory_points.push_back(point_5);

carma_planning_msgs::msg::TrajectoryPlanPoint point_6;
point_6.x = 10.0;
point_6.y = 0.0;
point_6.target_time = startTime + rclcpp::Duration(1, 0);
point_6.target_time = rclcpp::Time(1,0);
point_6.lane_id = "1";
tp3.trajectory_points.push_back(point_6);

ASSERT_FALSE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp2));
ASSERT_FALSE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp3));

}
*/

} // namespace basic_autonomy

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