Update tests

Signed-off-by: redvinaa <[email protected]>

nav2_docking/opennav_docking/test/test_dock_file.yaml

@@ -6,3 +6,4 @@ docks:
   dock2:
     type: "dockv1"
     pose: [0.0, 0.0, 0.4]
+    id: "2"

nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp

@@ -219,7 +219,7 @@ TEST(SimpleChargingDockTests, RefinedPoseTest)
 
   // Timestamps are outdated; this is after timeout
   EXPECT_FALSE(dock->isDocked());
-  EXPECT_FALSE(dock->getRefinedPose(pose));
+  EXPECT_FALSE(dock->getRefinedPose(pose, ""));
 
   geometry_msgs::msg::PoseStamped detected_pose;
   detected_pose.header.stamp = node->now();
@@ -230,7 +230,7 @@ TEST(SimpleChargingDockTests, RefinedPoseTest)
   rclcpp::spin_some(node->get_node_base_interface());
 
   pose.header.frame_id = "my_frame";
-  EXPECT_TRUE(dock->getRefinedPose(pose));
+  EXPECT_TRUE(dock->getRefinedPose(pose, ""));
   EXPECT_NEAR(pose.pose.position.x, 0.1, 0.01);
   EXPECT_NEAR(pose.pose.position.y, -0.3, 0.01);  // Applies external_detection_translation_x, +0.2
 

nav2_docking/opennav_docking/test/test_utils.cpp

@@ -60,6 +60,9 @@ TEST(UtilsTests, parseDockParams2)
   node->declare_parameter("dockC.pose", rclcpp::ParameterValue(dock_pose));
   node->declare_parameter("dockD.pose", rclcpp::ParameterValue(dock_pose));
 
+  // Don't declare C, check if empty string default
+  node->declare_parameter("dockD.id", rclcpp::ParameterValue("D"));
+
   std::vector<std::string> docks_param;
   node->get_parameter("docks", docks_param);
 
@@ -69,6 +72,8 @@ TEST(UtilsTests, parseDockParams2)
   EXPECT_EQ(db["dockC"].type, std::string("typeA"));
   EXPECT_EQ(db["dockC"].pose.position.x, 0.3);
   EXPECT_EQ(db["dockC"].pose.position.y, 0.3);
+  EXPECT_EQ(db["dockC"].id, std::string(""));
+  EXPECT_EQ(db["dockD"].id, std::string("D"));
 }
 
 TEST(UtilsTests, parseDockParams3)
@@ -108,6 +113,8 @@ TEST(UtilsTests, parseDockFile)
   EXPECT_EQ(db["dock2"].pose.position.x, 0.0);
   EXPECT_EQ(db["dock2"].pose.position.y, 0.0);
   EXPECT_NE(db["dock2"].pose.orientation.w, 1.0);
+  EXPECT_EQ(db["dock1"].id, std::string(""));
+  EXPECT_EQ(db["dock2"].id, std::string("2"));
 }
 
 TEST(UtilsTests, testgetDockPoseStamped)

nav2_docking/opennav_docking/test/testing_dock.cpp

@@ -72,7 +72,7 @@ class TestFailureDock : public opennav_docking_core::ChargingDock
     return geometry_msgs::msg::PoseStamped();
   }
 
-  virtual bool getRefinedPose(geometry_msgs::msg::PoseStamped &)
+  virtual bool getRefinedPose(geometry_msgs::msg::PoseStamped &, std::string)
   {
     // Always return false to trigger a timeout, when no exceptions are thrown
     return false;