From 9a41f3cdd0b7e4342beaa453670cf005ad53e367 Mon Sep 17 00:00:00 2001
From: koki suzuki <curious.ks.jp@gmail.com>
Date: Wed, 27 Nov 2024 17:32:30 +0900
Subject: [PATCH] Refactor test_constraint_activator_base.cpp and remove unused
 RViz configuration files

---
 .../test/maps/lanelet2_map.osm                | 5346 -----------------
 .../test_constraint_activator_base.cpp        |    5 +-
 .../config/viewer.rviz                        |  147 -
 3 files changed, 2 insertions(+), 5496 deletions(-)
 delete mode 100644 simulation/context_gamma_planner/context_gamma_planner/test/maps/lanelet2_map.osm
 delete mode 100644 simulation/context_gamma_planner/customized_rvo2_examples/config/viewer.rviz

diff --git a/simulation/context_gamma_planner/context_gamma_planner/test/maps/lanelet2_map.osm b/simulation/context_gamma_planner/context_gamma_planner/test/maps/lanelet2_map.osm
deleted file mode 100644
index 077647823b7..00000000000
--- a/simulation/context_gamma_planner/context_gamma_planner/test/maps/lanelet2_map.osm
+++ /dev/null
@@ -1,5346 +0,0 @@
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-    <member type='way' ref='34671' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='straight' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34675' visible='true' version='1'>
-    <member type='way' ref='34673' role='left' />
-    <member type='way' ref='34674' role='right' />
-    <member type='relation' ref='120637' role='regulatory_element' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34678' visible='true' version='1'>
-    <member type='way' ref='34676' role='left' />
-    <member type='way' ref='34677' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='straight' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34681' visible='true' version='1'>
-    <member type='way' ref='34679' role='left' />
-    <member type='way' ref='34680' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34684' visible='true' version='1'>
-    <member type='way' ref='34682' role='left' />
-    <member type='way' ref='34683' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34690' visible='true' version='1'>
-    <member type='way' ref='34688' role='left' />
-    <member type='way' ref='34689' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34693' visible='true' version='1'>
-    <member type='way' ref='34691' role='left' />
-    <member type='way' ref='34692' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='straight' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34696' visible='true' version='1'>
-    <member type='way' ref='34694' role='left' />
-    <member type='way' ref='34695' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34705' visible='true' version='1'>
-    <member type='way' ref='34703' role='left' />
-    <member type='way' ref='34695' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34708' visible='true' version='1'>
-    <member type='way' ref='34706' role='left' />
-    <member type='way' ref='34692' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='straight' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34741' visible='true' version='1'>
-    <member type='way' ref='34846' role='left' />
-    <member type='way' ref='34689' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34744' visible='true' version='1'>
-    <member type='way' ref='34742' role='left' />
-    <member type='way' ref='120630' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34750' visible='true' version='1'>
-    <member type='way' ref='34748' role='left' />
-    <member type='way' ref='120625' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34753' visible='true' version='1'>
-    <member type='way' ref='34751' role='left' />
-    <member type='way' ref='34755' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34756' visible='true' version='1'>
-    <member type='way' ref='34754' role='left' />
-    <member type='way' ref='34755' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='right' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34759' visible='true' version='1'>
-    <member type='way' ref='34757' role='left' />
-    <member type='way' ref='34749' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='right' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34762' visible='true' version='1'>
-    <member type='way' ref='34760' role='left' />
-    <member type='way' ref='120628' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34768' visible='true' version='1'>
-    <member type='way' ref='34766' role='left' />
-    <member type='way' ref='34767' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34774' visible='true' version='1'>
-    <member type='way' ref='34772' role='left' />
-    <member type='way' ref='34782' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34777' visible='true' version='1'>
-    <member type='way' ref='34775' role='left' />
-    <member type='way' ref='34779' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34780' visible='true' version='1'>
-    <member type='way' ref='34778' role='left' />
-    <member type='way' ref='34779' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='right' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34783' visible='true' version='1'>
-    <member type='way' ref='34781' role='left' />
-    <member type='way' ref='34782' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='right' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34786' visible='true' version='1'>
-    <member type='way' ref='34784' role='left' />
-    <member type='way' ref='120627' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34789' visible='true' version='1'>
-    <member type='way' ref='34787' role='left' />
-    <member type='way' ref='34788' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='right' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34792' visible='true' version='1'>
-    <member type='way' ref='34790' role='left' />
-    <member type='way' ref='34791' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='right' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34795' action='modify' visible='true' version='1'>
-    <member type='way' ref='34793' role='left' />
-    <member type='way' ref='34794' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34806' visible='true' version='1'>
-    <member type='way' ref='34833' role='light_bulbs' />
-    <member type='way' ref='34799' role='light_bulbs' />
-    <member type='way' ref='34805' role='ref_line' />
-    <member type='way' ref='34836' role='refers' />
-    <member type='way' ref='34802' role='refers' />
-    <tag k='subtype' v='traffic_light' />
-    <tag k='type' v='regulatory_element' />
-  </relation>
-  <relation id='34850' visible='true' version='1'>
-    <member type='way' ref='34847' role='left' />
-    <member type='way' ref='34743' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34976' visible='true' version='1'>
-    <member type='way' ref='34977' role='left' />
-    <member type='way' ref='34979' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='34981' visible='true' version='1'>
-    <member type='way' ref='34978' role='left' />
-    <member type='way' ref='34980' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35001' visible='true' version='1'>
-    <member type='way' ref='35047' role='left' />
-    <member type='way' ref='35049' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35016' visible='true' version='1'>
-    <member type='way' ref='35017' role='left' />
-    <member type='way' ref='35019' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35021' visible='true' version='1'>
-    <member type='way' ref='35022' role='left' />
-    <member type='way' ref='35024' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35026' visible='true' version='1'>
-    <member type='way' ref='120541' role='left' />
-    <member type='way' ref='120543' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35031' visible='true' version='1'>
-    <member type='way' ref='35032' role='left' />
-    <member type='way' ref='35034' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35036' visible='true' version='1'>
-    <member type='way' ref='35037' role='left' />
-    <member type='way' ref='35039' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35046' visible='true' version='1'>
-    <member type='way' ref='35043' role='left' />
-    <member type='way' ref='35045' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='35051' visible='true' version='1'>
-    <member type='way' ref='35048' role='left' />
-    <member type='way' ref='35050' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='turn_direction' v='left' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='120545' visible='true' version='1'>
-    <member type='way' ref='120542' role='left' />
-    <member type='way' ref='120544' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='120637' visible='true' version='1'>
-    <member type='way' ref='120635' role='ref_line' />
-    <member type='way' ref='120636' role='refers' />
-    <tag k='subtype' v='traffic_sign' />
-    <tag k='type' v='regulatory_element' />
-  </relation>
-  <relation id='120659' visible='true' version='1'>
-    <member type='way' ref='34667' role='left' />
-    <member type='way' ref='34605' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-  <relation id='120660' action='modify' visible='true' version='1'>
-    <member type='way' ref='34430' role='left' />
-    <member type='way' ref='120658' role='right' />
-    <tag k='subtype' v='road' />
-    <tag k='type' v='lanelet' />
-  </relation>
-</osm>
diff --git a/simulation/context_gamma_planner/context_gamma_planner/test/src/constraints/test_constraint_activator_base.cpp b/simulation/context_gamma_planner/context_gamma_planner/test/src/constraints/test_constraint_activator_base.cpp
index 3cf13ff394e..5e95e236672 100644
--- a/simulation/context_gamma_planner/context_gamma_planner/test/src/constraints/test_constraint_activator_base.cpp
+++ b/simulation/context_gamma_planner/context_gamma_planner/test/src/constraints/test_constraint_activator_base.cpp
@@ -27,9 +27,8 @@ class ConstraintActivatorTest : public ::testing::Test
   static void TearDownTestCase() { rclcpp::shutdown(); }
   virtual void SetUp()
   {
-    std::string path = ament_index_cpp::get_package_share_directory("context_gamma_planner") +
-                       "/maps/lanelet2_map.osm";
-    geographic_msgs::msg::GeoPoint origin;
+    std::string path = ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map",
+                "lanelet2_map.osm", geographic_msgs::msg::GeoPoint origin;
     origin.latitude = 35.61836750154;
     origin.longitude = 139.78066608243;
     hdmap_utils_ptr = std::make_shared<hdmap_utils::HdMapUtils>(path, origin);
diff --git a/simulation/context_gamma_planner/customized_rvo2_examples/config/viewer.rviz b/simulation/context_gamma_planner/customized_rvo2_examples/config/viewer.rviz
deleted file mode 100644
index c1795cad6b3..00000000000
--- a/simulation/context_gamma_planner/customized_rvo2_examples/config/viewer.rviz
+++ /dev/null
@@ -1,147 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 138
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /Grid1
-      Splitter Ratio: 0.5
-    Tree Height: 1478
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 10
-      Class: rviz_default_plugins/Grid
-      Color: 138; 226; 52
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 30
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz_default_plugins/MarkerArray
-      Enabled: true
-      Name: MarkerArray
-      Namespaces:
-        agent_orca: true
-        mpc: true
-        obstacle: true
-        obstacle_orca: true
-        pref_velocity: true
-        velocity: true
-        velocity_space: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /marker
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Angle: 0.005000018514692783
-      Class: rviz_default_plugins/TopDownOrtho
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Scale: 10
-      Target Frame: <Fixed Frame>
-      Value: TopDownOrtho (rviz_default_plugins)
-      X: 17.965227127075195
-      Y: 32.38057327270508
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1990
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c4000006c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006f000006c00000018400fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000013f000006c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006f000006c00000013500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000f000000005cfc0100000002fb0000000800540069006d0065010000000000000f000000048700fffffffb0000000800540069006d0065010000000000000450000000000000000000000be5000006c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 3840
-  X: 0
-  Y: 0