test(ndt_scan_matcher): add test_ndt_scan_matcher_launch.py (autoware…

…foundation#5347)

* Added test_ndt_scan_matcher_launch.py

Signed-off-by: Shintaro Sakoda <[email protected]>

* Added assert and raising exception

Signed-off-by: Shintaro Sakoda <[email protected]>

---------

Signed-off-by: Shintaro Sakoda <[email protected]>

localization/ndt_scan_matcher/CMakeLists.txt

@@ -41,6 +41,11 @@ link_directories(${PCL_LIBRARY_DIRS})
 target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES})
 
 if(BUILD_TESTING)
+  add_ros_test(
+    test/test_ndt_scan_matcher_launch.py
+    TIMEOUT "30"
+  )
+
   find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(test_tpe
     test/test_tpe.cpp

localization/ndt_scan_matcher/package.xml

@@ -38,6 +38,7 @@
 
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ros_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

localization/ndt_scan_matcher/src/map_update_module.cpp

@@ -55,12 +55,6 @@ MapUpdateModule::MapUpdateModule(
 
   pcd_loader_client_ =
     node->create_client<autoware_map_msgs::srv::GetDifferentialPointCloudMap>("pcd_loader_service");
-  while (!pcd_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) {
-    RCLCPP_INFO(
-      logger_,
-      "Waiting for pcd loader service. Check if the enable_differential_load in "
-      "pointcloud_map_loader is set `true`.");
-  }
 
   double map_update_dt = 1.0;
   auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
@@ -117,7 +111,14 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position)
   request->area.radius = static_cast<float>(dynamic_map_loading_map_radius_);
   request->cached_ids = ndt_ptr_->getCurrentMapIDs();
 
-  // // send a request to map_loader
+  while (!pcd_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) {
+    RCLCPP_INFO(
+      logger_,
+      "Waiting for pcd loader service. Check if the enable_differential_load in "
+      "pointcloud_map_loader is set `true`.");
+  }
+
+  // send a request to map_loader
   auto result{pcd_loader_client_->async_send_request(
     request,
     [](rclcpp::Client<autoware_map_msgs::srv::GetDifferentialPointCloudMap>::SharedFuture) {})};

localization/ndt_scan_matcher/test/test_ndt_scan_matcher_launch.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+
+# Copyright 2023 TIER IV, Inc.
+#
+# 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.
+
+import os
+import unittest
+
+from ament_index_python import get_package_share_directory
+import launch
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch.logging import get_logger
+import launch_testing
+import pytest
+import rclpy
+from std_srvs.srv import SetBool
+
+logger = get_logger(__name__)
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    test_ndt_scan_matcher_launch_file = os.path.join(
+        get_package_share_directory("ndt_scan_matcher"),
+        "launch",
+        "ndt_scan_matcher.launch.xml",
+    )
+    ndt_scan_matcher = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(test_ndt_scan_matcher_launch_file),
+    )
+
+    return launch.LaunchDescription(
+        [
+            ndt_scan_matcher,
+            # Start tests right away - no need to wait for anything
+            launch_testing.actions.ReadyToTest(),
+        ]
+    )
+
+
+class TestNDTScanMatcher(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        # Initialize the ROS context for the test node
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        # Shutdown the ROS context
+        rclpy.shutdown()
+
+    def setUp(self):
+        # Create a ROS node for tests
+        self.test_node = rclpy.create_node("test_node")
+
+    def tearDown(self):
+        self.test_node.destroy_node()
+
+    @staticmethod
+    def print_message(stat):
+        logger.debug("===========================")
+        logger.debug(stat)
+
+    def test_launch(self):
+        # Trigger ndt_scan_matcher to activate the node
+        cli_trigger = self.test_node.create_client(SetBool, "/trigger_node")
+        while not cli_trigger.wait_for_service(timeout_sec=1.0):
+            continue
+
+        request = SetBool.Request()
+        request.data = True
+        future = cli_trigger.call_async(request)
+        rclpy.spin_until_future_complete(self.test_node, future)
+
+        if future.result() is not None:
+            self.test_node.get_logger().info("Result of bool service: %s" % future.result().message)
+            self.assertTrue(future.result().success, "ndt_scan_matcher is not activated")
+        else:
+            self.test_node.get_logger().error(
+                "Exception while calling service: %r" % future.exception()
+            )
+            raise self.failureException("service trigger failed")
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+    def test_exit_code(self, proc_info):
+        # Check that process exits with code 0: no error
+        launch_testing.asserts.assertExitCodes(proc_info)