Push test coverage > 80%

[SteveMacenski]

Right now, test coverage is pretty OK for an open source ROS project, but that's a pretty low bar. We have 66% test coverage as of writing with some real efforts to get it up to that point. Now we should make an actual plan of things we need to add tests for to push this higher since many of the easier nickel-and-diming tests are already written.

• nav2_behavior_tree at 57% coverage, need to add more tests to our behavior tree nodes
• Costmap 2D only has 60% coverage
• Nav2 Core is at 85%, we need to call 1 extra function to get 100%
• DWB controller is at 70% coverage
• nav2_util is at 65% coverage, we need to test the param dump utility
• have one of the system tests use the voxel layer by enabling the depth camera plugin on the URDF/world (covers more of voxel_grid and costmap_2d)
• rviz plugins have 0% coverage

[SteveMacenski]

These ar esome of the ones we should look at, but any and all additional tests are desired

[naiveHobo]

Nav2 Core is at 85%, we need to call 1 extra function to get 100%

nav2_core::GoalChecker::reset() is the missing call. It doesn't get called since the derived classes dwb_plugins::SimpleGoalChecker and dwb_plugins::StoppedGoalChecker have their own reset() functions defined and the base class reset() (which is empty anyway) doesn't get called.

We can make nav2_core::GoalChecker::reset() a pure virtual function to get to 100% coverage.

[SteveMacenski]

Is reset the only function in goal checker with a default empty method? If so, sounds like a plan.