Use main function instead of global variable to setup the test environment. (#4948)

* Use the main function to setup the test environment.

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

* Apply the modification to all the tests.

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

* Refactor the test_remove_in_collision_goals_action.

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

* Add the missing test items.

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

* Revert "Refactor the test_remove_in_collision_goals_action."

This reverts commit 3d0e468.

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

* Reset failure_server_

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

---------

Signed-off-by: ChenYing Kuo <evshary@gmail.com>

Author: evshary

nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp

@@ -106,6 +106,7 @@ class RemoveInCollisionGoalsTestFixture : public ::testing::Test
     config_ = nullptr;
     node_.reset();
     success_server_.reset();
+    failure_server_.reset();
     factory_.reset();
   }
 

nav2_behavior_tree/test/test_bt_utils.cpp

@@ -470,4 +470,6 @@ TEST(deconflictPortAndParamFrameTest, test_correct_syntax)
     node, "test", tree.rootNode());
 
   EXPECT_EQ(value, 1);
+
+  rclcpp::shutdown();
 }

nav2_collision_monitor/test/kinematics_test.cpp

@@ -29,14 +29,6 @@ using namespace std::chrono_literals;
 
 static constexpr double EPSILON = std::numeric_limits<float>::epsilon();
 
-class RclCppFixture
-{
-public:
-  RclCppFixture() {rclcpp::init(0, nullptr);}
-  ~RclCppFixture() {rclcpp::shutdown();}
-};
-RclCppFixture g_rclcppfixture;
-
 TEST(KinematicsTest, testTransformPoints)
 {
   // Transform: move frame to (2.0, 1.0) coordinate and rotate it on 30 degrees
@@ -96,3 +88,16 @@ TEST(KinematicsTest, testProjectState)
   EXPECT_NEAR(vel.y, std::sin(rotated_vel_angle), EPSILON);
   EXPECT_NEAR(vel.tw, M_PI / 4.0, EPSILON);  // should be the same
 }
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  rclcpp::init(0, nullptr);
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
+}

nav2_controller/plugins/test/goal_checker.cpp

@@ -239,7 +239,13 @@ TEST(StoppedGoalChecker, get_tol_and_dynamic_params)
 
 int main(int argc, char ** argv)
 {
+  ::testing::InitGoogleTest(&argc, argv);
+
   rclcpp::init(argc, argv);
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
 }

nav2_controller/plugins/test/progress_checker.cpp

@@ -238,7 +238,13 @@ TEST(PoseProgressChecker, unit_tests)
 
 int main(int argc, char ** argv)
 {
+  ::testing::InitGoogleTest(&argc, argv);
+
   rclcpp::init(argc, argv);
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
 }

nav2_controller/test/test_dynamic_parameters.cpp

@@ -51,14 +51,6 @@ class ControllerShim : public nav2_controller::ControllerServer
   }
 };
 
-class RclCppFixture
-{
-public:
-  RclCppFixture() {rclcpp::init(0, nullptr);}
-  ~RclCppFixture() {rclcpp::shutdown();}
-};
-RclCppFixture g_rclcppfixture;
-
 TEST(WPTest, test_dynamic_parameters)
 {
   auto controller = std::make_shared<ControllerShim>();
@@ -86,3 +78,16 @@ TEST(WPTest, test_dynamic_parameters)
   EXPECT_EQ(controller->get_parameter("min_theta_velocity_threshold").as_double(), 100.0);
   EXPECT_EQ(controller->get_parameter("failure_tolerance").as_double(), 5.0);
 }
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  rclcpp::init(0, nullptr);
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
+}

nav2_costmap_2d/test/integration/dyn_params_tests.cpp

@@ -21,14 +21,6 @@
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 
-class RclCppFixture
-{
-public:
-  RclCppFixture() {rclcpp::init(0, nullptr);}
-  ~RclCppFixture() {rclcpp::shutdown();}
-};
-RclCppFixture g_rclcppfixture;
-
 class DynParamTestNode
 {
 public:
@@ -105,3 +97,16 @@ TEST(DynParamTestNode, testDynParamsSet)
   costmap->on_cleanup(rclcpp_lifecycle::State());
   costmap->on_shutdown(rclcpp_lifecycle::State());
 }
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  rclcpp::init(0, nullptr);
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
+}

nav2_costmap_2d/test/integration/footprint_tests.cpp

@@ -44,14 +44,6 @@
 #include "tf2_ros/transform_listener.h"
 #include "nav2_costmap_2d/footprint.hpp"
 
-class RclCppFixture
-{
-public:
-  RclCppFixture() {rclcpp::init(0, nullptr);}
-  ~RclCppFixture() {rclcpp::shutdown();}
-};
-RclCppFixture g_rclcppfixture;
-
 class FootprintTestNode
 {
 public:
@@ -202,3 +194,16 @@ TEST_F(TestNode, footprint_from_same_level_param)
   EXPECT_EQ(6.0f, footprint[2].y);
   EXPECT_EQ(0.0f, footprint[2].z);
 }
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  rclcpp::init(0, nullptr);
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
+}

nav2_costmap_2d/test/integration/inflation_tests.cpp

@@ -51,14 +51,6 @@
 using geometry_msgs::msg::Point;
 using nav2_costmap_2d::CellData;
 
-class RclCppFixture
-{
-public:
-  RclCppFixture() {rclcpp::init(0, nullptr);}
-  ~RclCppFixture() {rclcpp::shutdown();}
-};
-RclCppFixture g_rclcppfixture;
-
 class TestNode : public ::testing::Test
 {
 public:
@@ -639,3 +631,16 @@ TEST_F(TestNode, testDynParamsSet)
   costmap->on_cleanup(rclcpp_lifecycle::State());
   costmap->on_shutdown(rclcpp_lifecycle::State());
 }
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  rclcpp::init(0, nullptr);
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
+}

nav2_costmap_2d/test/integration/obstacle_tests.cpp

@@ -52,14 +52,6 @@ using std::none_of;
 using std::pair;
 using std::string;
 
-class RclCppFixture
-{
-public:
-  RclCppFixture() {rclcpp::init(0, nullptr);}
-  ~RclCppFixture() {rclcpp::shutdown();}
-};
-RclCppFixture g_rclcppfixture;
-
 class TestLifecycleNode : public nav2_util::LifecycleNode
 {
 public:
@@ -625,3 +617,16 @@ TEST_F(TestNodeWithoutUnknownOverwrite, testMaxWithoutUnknownOverwriteCombinatio
 
   ASSERT_EQ(unknown_count, 100);
 }
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  rclcpp::init(0, nullptr);
+
+  int result = RUN_ALL_TESTS();
+
+  rclcpp::shutdown();
+
+  return result;
+}