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feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset #9967

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merged 2 commits into from
Jan 19, 2025
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feat(autoware_planning_test_manager): remove dependency of tier4_planning_msgs::msg::LateralOffset #9967

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cdcf09a
feat(autoware_planning_test_manager): remove dependency of tier4_plan…
takayuki5168 Jan 19, 2025
ba340e3
fix
takayuki5168 Jan 19, 2025
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2 changes: 0 additions & 2 deletions common/autoware_test_utils/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,7 @@
<depend>std_srvs</depend>
<depend>tf2_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_api_msgs</depend>
<depend>tier4_planning_msgs</depend>
<depend>tier4_v2x_msgs</depend>
<depend>unique_identifier_msgs</depend>
<depend>yaml_cpp_vendor</depend>

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4 changes: 0 additions & 4 deletions ...ng_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
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Expand Up @@ -52,7 +52,6 @@
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <std_msgs/msg/bool.hpp>
#include <tf2_msgs/msg/tf_message.hpp>
#include <tier4_planning_msgs/msg/lateral_offset.hpp>
#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
#include <tier4_planning_msgs/msg/scenario.hpp>
#include <tier4_planning_msgs/msg/velocity_limit.hpp>
Expand Down Expand Up @@ -83,7 +82,6 @@ using nav_msgs::msg::OccupancyGrid;
using nav_msgs::msg::Odometry;
using sensor_msgs::msg::PointCloud2;
using tf2_msgs::msg::TFMessage;
using tier4_planning_msgs::msg::LateralOffset;
using tier4_planning_msgs::msg::PathWithLaneId;
using tier4_planning_msgs::msg::Scenario;
using tier4_planning_msgs::msg::VelocityLimit;
Expand Down Expand Up @@ -119,7 +117,6 @@ class PlanningInterfaceTestManager
void publishRoute(rclcpp::Node::SharedPtr target_node, std::string topic_name);
void publishTF(rclcpp::Node::SharedPtr target_node, std::string topic_name);
void publishInitialPoseTF(rclcpp::Node::SharedPtr target_node, std::string topic_name);
void publishLateralOffset(rclcpp::Node::SharedPtr target_node, std::string topic_name);
void publishOperationModeState(rclcpp::Node::SharedPtr target_node, std::string topic_name);
void publishTrafficSignals(rclcpp::Node::SharedPtr target_node, std::string topic_name);

Expand Down Expand Up @@ -189,7 +186,6 @@ class PlanningInterfaceTestManager
rclcpp::Publisher<LaneletRoute>::SharedPtr route_pub_;
rclcpp::Publisher<TFMessage>::SharedPtr TF_pub_;
rclcpp::Publisher<TFMessage>::SharedPtr initial_pose_tf_pub_;
rclcpp::Publisher<LateralOffset>::SharedPtr lateral_offset_pub_;
rclcpp::Publisher<OperationModeState>::SharedPtr operation_mode_state_pub_;
rclcpp::Publisher<TrafficLightGroupArray>::SharedPtr traffic_signals_pub_;

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1 change: 0 additions & 1 deletion planning/autoware_planning_test_manager/package.xml
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Expand Up @@ -32,7 +32,6 @@
<depend>tf2_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_planning_msgs</depend>
<depend>tier4_v2x_msgs</depend>
<depend>unique_identifier_msgs</depend>
<depend>yaml_cpp_vendor</depend>

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7 changes: 0 additions & 7 deletions planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Primitive Obsession 

The ratio of primitive types in function arguments decreases from 45.05% to 44.94%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.

Check notice on line 1 in planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: String Heavy Function Arguments 

The ratio of strings in function arguments decreases from 42.86% to 42.70%, threshold = 39.0%. The functions in this file have a high ratio of strings as arguments. Avoid adding more.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -153,13 +153,6 @@
autoware::test_utils::makeTFMsg(target_node, "base_link", "map"));
}

void PlanningInterfaceTestManager::publishLateralOffset(
rclcpp::Node::SharedPtr target_node, std::string topic_name)
{
autoware::test_utils::publishToTargetNode(
test_node_, target_node, topic_name, lateral_offset_pub_, LateralOffset{});
}

void PlanningInterfaceTestManager::publishOperationModeState(
rclcpp::Node::SharedPtr target_node, std::string topic_name)
{
Expand Down
21 changes: 19 additions & 2 deletions planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp
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Expand Up @@ -18,12 +18,30 @@
#include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
#include <autoware_test_utils/autoware_test_utils.hpp>

#include <tier4_planning_msgs/msg/lateral_offset.hpp>

#include <memory>
#include <string>
#include <vector>

namespace autoware::behavior_path_planner
{
namespace
{
using tier4_planning_msgs::msg::LateralOffset;

void publishLateralOffset(
std::shared_ptr<PlanningInterfaceTestManager> test_manager,
std::shared_ptr<BehaviorPathPlannerNode> test_target_node)
{
auto test_node = test_manager->getTestNode();
const auto pub_lateral_offset = test_manager->getTestNode()->create_publisher<LateralOffset>(
"behavior_path_planner/input/lateral_offset", 1);
pub_lateral_offset->publish(LateralOffset{});
autoware::test_utils::spinSomeNodes(test_node, test_target_node, 3);
}
} // namespace

std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
{
auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
Expand Down Expand Up @@ -95,7 +113,6 @@ void publishMandatoryTopics(
test_manager->publishMap(test_target_node, "behavior_path_planner/input/vector_map");
test_manager->publishCostMap(test_target_node, "behavior_path_planner/input/costmap");
test_manager->publishOperationModeState(test_target_node, "system/operation_mode/state");
test_manager->publishLateralOffset(
test_target_node, "behavior_path_planner/input/lateral_offset");
publishLateralOffset(test_manager, test_target_node);
}
} // namespace autoware::behavior_path_planner
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