Merge pull request #44 from tier4/sync-upstream

chore: sync upstream
tier4 · May 18, 2022 · 0621852 · 0621852
2 parents 65e6d7b + f1d2b9e
commit 0621852
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Showing 132 changed files with 2,941 additions and 1,282 deletions.
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
@@ -54,7 +54,7 @@ jobs:
       - name: Select verb
         id: select-verb
         run: |
-          has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}")
+          has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true
 
           verb=create
           if [ "$has_previous_draft" = "true" ]; then

diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt
@@ -9,7 +9,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
 
 if(BUILD_TESTING)
   set(TEST_COMMON test_common_gtest)
-  ament_add_gtest(${TEST_COMMON}
+  ament_add_ros_isolated_gtest(${TEST_COMMON}
     test/gtest_main.cpp
     test/test_bool_comparisons.cpp
     test/test_byte_reader.cpp

diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml
@@ -14,7 +14,7 @@
   <depend>builtin_interfaces</depend>
   <depend>eigen</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>geometry_msgs</test_depend>

diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
@@ -23,7 +23,7 @@ if(BUILD_TESTING)
     test/src/test_common_2d.cpp
     test/src/test_intersection.cpp
   )
-  ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
+  ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
   target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion)
   target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include")
   ament_target_dependencies(${GEOMETRY_GTEST}

diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml
@@ -18,7 +18,7 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>

diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 if(BUILD_TESTING)
-  ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
+  ament_add_ros_isolated_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
   target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include")
   ament_target_dependencies(test_tf2_autoware_auto_msgs
     "autoware_auto_common"

diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml
@@ -20,7 +20,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt
@@ -11,7 +11,7 @@ include_directories(
 )
 
 if(BUILD_TESTING)
-  ament_add_gtest(test_autoware_point_types
+  ament_add_ros_isolated_gtest(test_autoware_point_types
     test/test_point_types.cpp
   )
   target_include_directories(test_autoware_point_types

diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml
@@ -23,7 +23,7 @@
   <depend>pcl_ros</depend>
   <depend>point_cloud_msg_wrapper</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>point_cloud_msg_wrapper</test_depend>

diff --git a/common/autoware_testing/autoware_testing/smoke_test.py b/common/autoware_testing/autoware_testing/smoke_test.py
@@ -16,6 +16,7 @@
 
 import os
 import shlex
+import time
 import unittest
 
 from ament_index_python import get_package_share_directory
@@ -26,21 +27,24 @@
 from launch_ros.actions import Node
 import launch_testing
 import pytest
+import rclpy
 
 
 def resolve_node(context, *args, **kwargs):
+    parameters = [
+        os.path.join(
+            get_package_share_directory(LaunchConfiguration("arg_package").perform(context)),
+            "param",
+            file_name,
+        )
+        for file_name in shlex.split(LaunchConfiguration("arg_param_filenames").perform(context))
+    ]
 
     smoke_test_node = Node(
         package=LaunchConfiguration("arg_package"),
         executable=LaunchConfiguration("arg_package_exe"),
         namespace="test",
-        parameters=[
-            os.path.join(
-                get_package_share_directory(LaunchConfiguration("arg_package").perform(context)),
-                "param",
-                LaunchConfiguration("arg_param_filename").perform(context),
-            )
-        ],
+        parameters=parameters,
         arguments=shlex.split(LaunchConfiguration("arg_executable_arguments").perform(context)),
     )
     return [smoke_test_node]
@@ -55,8 +59,8 @@ def generate_test_description():
     arg_package_exe = DeclareLaunchArgument(
         "arg_package_exe", default_value=["default"], description="Tested executable"
     )
-    arg_param_filename = DeclareLaunchArgument(
-        "arg_param_filename", default_value=["test.param.yaml"], description="Test param file"
+    arg_param_filenames = DeclareLaunchArgument(
+        "arg_param_filenames", default_value=["test.param.yaml"], description="Test param file"
     )
     arg_executable_arguments = DeclareLaunchArgument(
         "arg_executable_arguments", default_value=[""], description="Tested executable arguments"
@@ -66,16 +70,27 @@ def generate_test_description():
         [
             arg_package,
             arg_package_exe,
-            arg_param_filename,
+            arg_param_filenames,
             arg_executable_arguments,
             OpaqueFunction(function=resolve_node),
             launch_testing.actions.ReadyToTest(),
         ]
     )
 
 
+class DummyTest(unittest.TestCase):
+    def test_wait_for_node_ready(self):
+        """Waiting for the node is ready."""
+        rclpy.init()
+        test_node = rclpy.create_node("test_node")
+        while len(test_node.get_node_names()) == 0:
+            time.sleep(0.1)
+            print("waiting for Node to be ready")
+        rclpy.shutdown()
+
+
 @launch_testing.post_shutdown_test()
 class TestProcessOutput(unittest.TestCase):
     def test_exit_code(self, proc_output, proc_info):
-        # Check that process exits with code -15 code: termination request, sent to the program
-        launch_testing.asserts.assertExitCodes(proc_info, [-15])
+        # Check that process exits with code 0
+        launch_testing.asserts.assertExitCodes(proc_info)
diff --git a/common/autoware_testing/cmake/add_smoke_test.cmake b/common/autoware_testing/cmake/add_smoke_test.cmake
@@ -19,18 +19,18 @@
 # :type package_name: string
 # :param package_exec: package executable to run during smoke test
 # :type executable_name: string
-# :param PARAM_FILENAME: yaml filename containing test parameters
-# :type PARAM_FILENAME: string
+# :param PARAM_FILENAMES: yaml filenames containing test parameters
+# :type PARAM_FILENAMES: string
 # :param EXECUTABLE_ARGUMENTS: arguments passed to tested executable
 # :type EXECUTABLE_ARGUMENTS: string
 
 function(add_smoke_test package_name executable_name)
-  cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAME;EXECUTABLE_ARGUMENTS" "")
+  cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "")
 
   set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}")
 
-  if(smoke_test_PARAM_FILENAME)
-    list(APPEND ARGUMENTS "arg_param_filename:=${smoke_test_PARAM_FILENAME}")
+  if(smoke_test_PARAM_FILENAMES)
+    list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}")
   endif()
 
   if(smoke_test_EXECUTABLE_ARGUMENTS)

diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt
@@ -7,7 +7,7 @@ autoware_package()
 ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp)
 
 if(BUILD_TESTING)
-  ament_add_gtest(test_fake_test_node
+  ament_add_ros_isolated_gtest(test_fake_test_node
     test/test_fake_test_node.cpp
   )
   add_dependencies(test_fake_test_node fake_test_node)

diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml
@@ -11,7 +11,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>ament_cmake_gtest</depend>
+  <depend>ament_cmake_ros</depend>
   <depend>autoware_auto_common</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

diff --git a/common/had_map_utils/package.xml b/common/had_map_utils/package.xml
@@ -23,7 +23,7 @@
   <depend>lanelet2_io</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt
@@ -13,7 +13,7 @@ ament_auto_add_library(interpolation SHARED
 if(BUILD_TESTING)
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_gtest(test_interpolation ${test_files})
+  ament_add_ros_isolated_gtest(test_interpolation ${test_files})
 
   target_link_libraries(test_interpolation
     interpolation

diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml
@@ -14,7 +14,7 @@
 
   <depend>tier4_autoware_utils</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt
@@ -7,7 +7,7 @@ autoware_package()
 ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp)
 
 if(BUILD_TESTING)
-  ament_add_gtest(motion_testing_unit_tests
+  ament_add_ros_isolated_gtest(motion_testing_unit_tests
     test/gtest_main.cpp
     test/constant_trajectory.cpp
     test/trajectory_checks.cpp)

diff --git a/common/motion_testing/package.xml b/common/motion_testing/package.xml
@@ -19,7 +19,7 @@
   <build_export_depend>autoware_auto_planning_msgs</build_export_depend>
   <build_export_depend>autoware_auto_vehicle_msgs</build_export_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt
@@ -49,7 +49,7 @@ if(BUILD_TESTING)
     test/test_csc_matrix_conv.cpp
   )
   set(TEST_OSQP_INTERFACE_EXE test_osqp_interface)
-  ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES})
+  ament_add_ros_isolated_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES})
   target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME})
 endif()
 

diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml
@@ -17,7 +17,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>eigen</test_depend>

diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt
@@ -9,7 +9,7 @@ ament_auto_add_library(lowpass_filter_1d SHARED
 )
 
 if(BUILD_TESTING)
-  ament_add_gtest(test_signal_processing
+  ament_add_ros_isolated_gtest(test_signal_processing
     test/src/lowpass_filter_1d_test.cpp
   )
   target_link_libraries(test_signal_processing

diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml
@@ -12,7 +12,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt
@@ -6,7 +6,7 @@ autoware_package()
 
 if(BUILD_TESTING)
   include_directories(include)
-  ament_add_gtest(${PROJECT_NAME}_test test/test.cpp)
+  ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp)
   ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs)
 endif()
 

diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml
@@ -14,7 +14,7 @@
   <depend>rclcpp</depend>
   <depend>tier4_external_api_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>rclcpp</test_depend>

diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt
@@ -12,11 +12,11 @@ ament_auto_add_library(tier4_autoware_utils SHARED
 )
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_ros REQUIRED)
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_gtest(test_tier4_autoware_utils ${test_files})
+  ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files})
 
   target_link_libraries(test_tier4_autoware_utils
     tier4_autoware_utils

diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml
@@ -23,7 +23,7 @@
   <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp
@@ -75,7 +75,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize()
       &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1));
 
   client_ = raw_node->create_client<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>(
-    "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir");
+    "/accel_brake_map_calibrator/update_map_dir");
 }
 
 void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest(

diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml
@@ -21,6 +21,7 @@
   <depend>rviz_common</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
+  <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>