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test(map_loader): add launch test for the 'lanelet2_map_loader' node (#…
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…1056)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
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@maxime-clem @kenji-miyake
maxime-clem and kenji-miyake authored Jun 9, 2022
1 parent 3bdba1f commit 4c910ac
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11 changes: 11 additions & 0 deletions map/map_loader/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,17 @@ rclcpp_components_register_node(lanelet2_map_visualization_node
EXECUTABLE lanelet2_map_visualization
)

if(BUILD_TESTING)
add_ros_test(
test/lanelet2_map_loader_launch.test.py
TIMEOUT "30"
)
install(DIRECTORY
test/data/
DESTINATION share/${PROJECT_NAME}/test/data/
)
endif()

install(PROGRAMS
script/map_hash_generator
DESTINATION lib/${PROJECT_NAME}
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1 change: 1 addition & 0 deletions map/map_loader/package.xml
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Expand Up @@ -27,6 +27,7 @@

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>ros_testing</test_depend>

<export>
<build_type>ament_cmake</build_type>
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146 changes: 146 additions & 0 deletions map/map_loader/test/data/test_map.osm
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@@ -0,0 +1,146 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="2"/>
<node id="10" lat="35.62554985786315" lon="139.78246505089274">
<tag k="mgrs_code" v="54SUE897431"/>
<tag k="local_x" v="89747.3792"/>
<tag k="local_y" v="43100.1597"/>
<tag k="ele" v="12.149"/>
</node>
<node id="11" lat="35.625753282567665" lon="139.78285100261152">
<tag k="mgrs_code" v="54SUE897431"/>
<tag k="local_x" v="89782.6096"/>
<tag k="local_y" v="43122.2901"/>
<tag k="ele" v="5.95"/>
</node>
<node id="13" lat="35.625587319824625" lon="139.78243545848844">
<tag k="mgrs_code" v="54SUE897431"/>
<tag k="local_x" v="89744.7508"/>
<tag k="local_y" v="43104.348"/>
<tag k="ele" v="12.149"/>
</node>
<node id="14" lat="35.625789398053385" lon="139.78281921887913">
<tag k="mgrs_code" v="54SUE897431"/>
<tag k="local_x" v="89779.7809"/>
<tag k="local_y" v="43126.3315"/>
<tag k="ele" v="5.95"/>
</node>
<node id="17" lat="35.62598180391042" lon="139.78328457291465">
<tag k="mgrs_code" v="54SUE898431"/>
<tag k="local_x" v="89822.1865"/>
<tag k="local_y" v="43147.1509"/>
<tag k="ele" v="6.7069"/>
</node>
<node id="20" lat="35.62633552101926" lon="139.78392036825423">
<tag k="mgrs_code" v="54SUE898431"/>
<tag k="local_x" v="89880.2479"/>
<tag k="local_y" v="43185.6716"/>
<tag k="ele" v="12.2602"/>
</node>
<node id="22" lat="35.62602561192561" lon="139.78326636562227">
<tag k="mgrs_code" v="54SUE898431"/>
<tag k="local_x" v="89820.5978"/>
<tag k="local_y" v="43152.0303"/>
<tag k="ele" v="5.9099"/>
</node>
<node id="23" lat="35.626372598801595" lon="139.78388939065988">
<tag k="mgrs_code" v="54SUE898431"/>
<tag k="local_x" v="89877.4935"/>
<tag k="local_y" v="43189.8188"/>
<tag k="ele" v="12.2602"/>
</node>
<node id="207" lat="35.625526972158134" lon="139.78249307175062">
<tag k="mgrs_code" v="54SUE897430"/>
<tag k="local_x" v="89749.8853"/>
<tag k="local_y" v="43097.5899"/>
<tag k="ele" v="5.4342"/>
</node>
<node id="212" lat="35.6259529904892" lon="139.78331102601197">
<tag k="mgrs_code" v="54SUE898431"/>
<tag k="local_x" v="89824.5425"/>
<tag k="local_y" v="43143.9254"/>
<tag k="ele" v="6.0319"/>
</node>
<node id="213" lat="35.62629786487126" lon="139.7839588039869">
<tag k="mgrs_code" v="54SUE898431"/>
<tag k="local_x" v="89883.6769"/>
<tag k="local_y" v="43181.4519"/>
<tag k="ele" v="6.4513"/>
</node>
<way id="12">
<nd ref="10"/>
<nd ref="11"/>
<nd ref="17"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="dashed"/>
<tag k="lane_change" v="yes"/>
</way>
<way id="15">
<nd ref="13"/>
<nd ref="14"/>
<nd ref="22"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="21">
<nd ref="17"/>
<nd ref="20"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="dashed"/>
<tag k="lane_change" v="yes"/>
</way>
<way id="24">
<nd ref="22"/>
<nd ref="23"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="209">
<nd ref="207"/>
<nd ref="212"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="214">
<nd ref="212"/>
<nd ref="213"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="16">
<member type="way" role="left" ref="15"/>
<member type="way" role="right" ref="12"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
<relation id="25">
<member type="way" role="left" ref="24"/>
<member type="way" role="right" ref="21"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
<relation id="215">
<member type="way" role="left" ref="12"/>
<member type="way" role="right" ref="209"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
<relation id="216">
<member type="way" role="left" ref="21"/>
<member type="way" role="right" ref="214"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
</relation>
</osm>
61 changes: 61 additions & 0 deletions map/map_loader/test/lanelet2_map_loader_launch.test.py
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#!/usr/bin/env python3

# Copyright 2022 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.

import os
import unittest

from ament_index_python import get_package_share_directory
import launch
from launch import LaunchDescription
from launch_ros.actions import Node
import launch_testing
import pytest


@pytest.mark.launch_test
def generate_test_description():

lanelet2_map_path = os.path.join(
get_package_share_directory("map_loader"), "test/data/test_map.osm"
)

lanelet2_map_loader = Node(
package="map_loader",
executable="lanelet2_map_loader",
parameters=[{"lanelet2_map_path": lanelet2_map_path}],
)

context = {}

return (
LaunchDescription(
[
lanelet2_map_loader,
# Start test after 1s - gives time for the map_loader to finish initialization
launch.actions.TimerAction(
period=1.0, actions=[launch_testing.actions.ReadyToTest()]
),
]
),
context,
)


@launch_testing.post_shutdown_test()
class TestProcessOutput(unittest.TestCase):
def test_exit_code(self, proc_info):
# Check that process exits with code 0: no error
launch_testing.asserts.assertExitCodes(proc_info)

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