adding tests for wp follower task executors (ros-navigation#2156)

* adding tests for wp follower

* adding C++ 14 min requirement

* trying linking

nav2_waypoint_follower/CMakeLists.txt

@@ -24,6 +24,8 @@ find_package(pluginlib REQUIRED)
 
 nav2_package()
 
+link_libraries(stdc++fs)
+
 include_directories(
   include
 )
@@ -96,7 +98,9 @@ install(DIRECTORY include/
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
 endif()
 
 ament_export_include_directories(include)

nav2_waypoint_follower/test/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Test costmap downsampler
+ament_add_gtest(test_task_executors
+  test_task_executors.cpp
+)
+ament_target_dependencies(test_task_executors
+  ${dependencies}
+)
+target_link_libraries(test_task_executors
+  ${library_name} wait_at_waypoint photo_at_waypoint input_at_waypoint
+)

nav2_waypoint_follower/test/test_task_executors.cpp

@@ -0,0 +1,116 @@
+// Copyright (c) 2021, Samsung Research America
+//
+// 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. Reserved.
+
+#include <math.h>
+#include <memory>
+#include <string>
+#include <vector>
+#include <utility>
+#include <thread>
+
+#include "gtest/gtest.h"
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_util/lifecycle_node.hpp"
+#include "nav2_waypoint_follower/plugins/photo_at_waypoint.hpp"
+#include "nav2_waypoint_follower/plugins/wait_at_waypoint.hpp"
+#include "nav2_waypoint_follower/plugins/input_at_waypoint.hpp"
+
+
+class RclCppFixture
+{
+public:
+  RclCppFixture() {rclcpp::init(0, nullptr);}
+  ~RclCppFixture() {rclcpp::shutdown();}
+};
+RclCppFixture g_rclcppfixture;
+
+TEST(WaypointFollowerTest, WaitAtWaypoint)
+{
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testWaypointNode");
+
+  node->declare_parameter("WAW.waypoint_pause_duration", 50);
+
+  nav2_waypoint_follower::WaitAtWaypoint waw;
+  waw.initialize(node, std::string("WAW"));
+
+  auto start_time = node->now();
+
+  // should wait 50ms
+  geometry_msgs::msg::PoseStamped pose;
+  waw.processAtWaypoint(pose, 0);
+
+  auto end_time = node->now();
+
+  EXPECT_NEAR((end_time - start_time).seconds(), 0.05, 0.01);
+}
+
+TEST(WaypointFollowerTest, InputAtWaypoint)
+{
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testWaypointNode");
+  auto pub = node->create_publisher<std_msgs::msg::Empty>("input_at_waypoint/input", 1);
+  pub->on_activate();
+  auto publish_message =
+    [&, this]() -> void
+    {
+      rclcpp::Rate(5).sleep();
+      auto msg = std::make_unique<std_msgs::msg::Empty>();
+      pub->publish(std::move(msg));
+      rclcpp::spin_some(node->shared_from_this()->get_node_base_interface());
+    };
+
+  nav2_waypoint_follower::InputAtWaypoint iaw;
+  iaw.initialize(node, std::string("WAW"));
+
+  auto start_time = node->now();
+
+  // no input, should timeout
+  geometry_msgs::msg::PoseStamped pose;
+  EXPECT_FALSE(iaw.processAtWaypoint(pose, 0));
+
+  auto end_time = node->now();
+
+  EXPECT_NEAR((end_time - start_time).seconds(), 10.0, 0.1);
+
+  // has input now, should work
+  std::thread t1(publish_message);
+  EXPECT_TRUE(iaw.processAtWaypoint(pose, 0));
+  t1.join();
+}
+
+TEST(WaypointFollowerTest, PhotoAtWaypoint)
+{
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testWaypointNode");
+  auto pub = node->create_publisher<sensor_msgs::msg::Image>("/camer/color/image_raw", 1);
+  pub->on_activate();
+  auto publish_message =
+    [&, this]() -> void
+    {
+      rclcpp::Rate(5).sleep();
+      auto msg = std::make_unique<sensor_msgs::msg::Image>();
+      pub->publish(std::move(msg));
+      rclcpp::spin_some(node->shared_from_this()->get_node_base_interface());
+    };
+
+  nav2_waypoint_follower::PhotoAtWaypoint paw;
+  paw.initialize(node, std::string("WAW"));
+
+  // no images, throws because can't write
+  geometry_msgs::msg::PoseStamped pose;
+  EXPECT_FALSE(paw.processAtWaypoint(pose, 0));
+
+  // has image now, should still fail because its invalid
+  std::thread t1(publish_message);
+  EXPECT_FALSE(paw.processAtWaypoint(pose, 0));
+  t1.join();
+}