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Signed-off-by: goes <[email protected]>
ros-navigation · May 6, 2024 · b3e8d55 · b3e8d55
1 parent 27d42a0
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Showing 2 changed files with 95 additions and 96 deletions.
diff --git a/nav2_util/include/nav2_util/validate_messages.hpp b/nav2_util/include/nav2_util/validate_messages.hpp
@@ -56,11 +56,11 @@ bool validateMsg(const double & num)
 }
 
 template<size_t N>
-bool validateMsg(const std::array<double, N>& msg) {
+bool validateMsg(const std::array<double, N> & msg)
+{
   //  @brief double-array value check
-  for (const auto& element : msg)
-  {
-    if(!validateMsg(element)) {return false;}
+  for (const auto & element : msg) {
+    if (!validateMsg(element)) {return false;}
   }
 
   return true;
@@ -125,22 +125,21 @@ bool validateMsg(const geometry_msgs::msg::Pose & msg)
 bool validateMsg(const geometry_msgs::msg::PoseWithCovariance & msg)
 {
   // check sub-type
-  if(!validateMsg(msg.pose)) {return false;}
-  if(!validateMsg(msg.covariance)) {return false;}
-  
+  if (!validateMsg(msg.pose)) {return false;}
+  if (!validateMsg(msg.covariance)) {return false;}
+
   return true;
 }
 
 bool validateMsg(const geometry_msgs::msg::PoseWithCovarianceStamped & msg)
 {
   // check sub-type
-  if(!validateMsg(msg.header)) {return false;}
-  if(!validateMsg(msg.pose))  {return false;}
+  if (!validateMsg(msg.header)) {return false;}
+  if (!validateMsg(msg.pose)) {return false;}
   return true;
 }
 
 
-
 // Function to verify map meta information
 bool validateMsg(const nav_msgs::msg::MapMetaData & msg)
 {

diff --git a/nav2_util/test/test_validation_messages.cpp b/nav2_util/test/test_validation_messages.cpp
@@ -244,138 +244,138 @@ TEST(ValidateMessagesTest, OccupancyGridCheck) {
   EXPECT_FALSE(nav2_util::validateMsg(invalid_occupancy_grid));
 }
 
-TEST(ValidateMessagesTest, PoseWithCovarianceCheck){
+TEST(ValidateMessagesTest, PoseWithCovarianceCheck) {
   geometry_msgs::msg::PoseWithCovariance validate_msg = {
     // covariance
     {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
     // pose
     {
-        // position
-        {0.50010401010515571, 1.7468730211257935, 0.0},
-        // orientation
-        {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
+      // position
+      {0.50010401010515571, 1.7468730211257935, 0.0},
+      // orientation
+      {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
     }
   };
   EXPECT_TRUE(nav2_util::validateMsg(validate_msg));
 
-  geometry_msgs::msg::PoseWithCovariance 
-  invalidate_msg = {
+  geometry_msgs::msg::PoseWithCovariance
+    invalidate_msg = {
     // covariance
     {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, NAN, 0.0, NAN, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
     // pose
     {
-        // position
-        {0.50010401010515571, 1.7468730211257935, 0.0},
-        // orientation
-        {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
+      // position
+      {0.50010401010515571, 1.7468730211257935, 0.0},
+      // orientation
+      {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
     }
   };
   EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg));
 
   invalidate_msg = {
     // covariance
     {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
     // pose
     {
-        // position
-        {NAN, 1.7468730211257935, 0.0},
-        // orientation
-        {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
+      // position
+      {NAN, 1.7468730211257935, 0.0},
+      // orientation
+      {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
     }
   };
   EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg));
 }
 
 
-TEST(ValidateMessagesTest, PoseWithCovarianceStampedCheck){
+TEST(ValidateMessagesTest, PoseWithCovarianceStampedCheck) {
   geometry_msgs::msg::PoseWithCovarianceStamped validate_msg = {
-      // Header
+    // Header
+    {
+      // frame_id
+      "map",
+      // stamp
       {
-          // frame_id
-          "map",
-          // stamp
-          {
-              1711029956, // sec
-              146734875   // nanosec
-          }
-      },
-      // Pose
+        1711029956,       // sec
+        146734875         // nanosec
+      }
+    },
+    // Pose
+    {
+      // covariance
+      {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
+      // pose
       {
-          // covariance
-          {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
-          // pose
-          {
-              // position
-              {0.50010401010515571, 1.7468730211257935, 0.0},
-              // orientation
-              {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
-          }
+        // position
+        {0.50010401010515571, 1.7468730211257935, 0.0},
+        // orientation
+        {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
       }
+    }
   };
   EXPECT_TRUE(nav2_util::validateMsg(validate_msg));
 
   geometry_msgs::msg::PoseWithCovarianceStamped
-  invalidate_msg = {
-      // Header
+    invalidate_msg = {
+    // Header
+    {
+      // frame_id
+      "map",
+      // stamp
       {
-          // frame_id
-          "map",
-          // stamp
-          {
-              1711029956, // sec
-              146734875   // nanosec
-          }
-      },
-      // Pose
+        1711029956,       // sec
+        146734875         // nanosec
+      }
+    },
+    // Pose
+    {
+      // covariance
+      {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, NAN, 0.0, NAN, 0.0, 0.0, 0.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
+      // pose
       {
-          // covariance
-          {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, NAN, 0.0, NAN, 0.0, 0.0, 0.0, 0.0, 0.0,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
-          // pose
-          {
-              // position
-              {0.50010401010515571, 1.7468730211257935, 0.0},
-              // orientation
-              {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
-          }
+        // position
+        {0.50010401010515571, 1.7468730211257935, 0.0},
+        // orientation
+        {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
       }
+    }
   };
   EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg));
 
   invalidate_msg = {
-      // Header
+    // Header
+    {
+      // frame_id
+      "",
+      // stamp
       {
-          // frame_id
-          "",
-          // stamp
-          {
-              1711029956, // sec
-              146734875   // nanosec
-          }
-      },
-      // Pose
+        1711029956,       // sec
+        146734875         // nanosec
+      }
+    },
+    // Pose
+    {
+      // covariance
+      {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
+      // pose
       {
-          // covariance
-          {0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467},
-          // pose
-          {
-              // position
-              {0.50010401010515571, 1.7468730211257935, 0.0},
-              // orientation
-              {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
-          }
+        // position
+        {0.50010401010515571, 1.7468730211257935, 0.0},
+        // orientation
+        {0.9440542194053062, 0.0, 0.0, -0.32979028309372299}
       }
+    }
   };
   EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg));
 }