update

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jan 19, 2025 · c033ba8 · c033ba8
1 parent 8f6456c
commit c033ba8
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Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -31,7 +31,7 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)
 
   auto test_manager = generateTestManager();
   auto test_target_node = generateNode(
-    {"avoidance_by_lane_change"},
+    {"lane_change", "static_obstacle_avoidance", "avoidance_by_lane_change"},
     {"autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager"});
   publishMandatoryTopics(test_manager, test_target_node);
 
@@ -50,7 +50,7 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
 
   auto test_manager = generateTestManager();
   auto test_target_node = generateNode(
-    {"avoidance_by_lane_change"},
+    {"lane_change", "static_obstacle_avoidance", "avoidance_by_lane_change"},
     {"autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager"});
   publishMandatoryTopics(test_manager, test_target_node);
 

diff --git a/...nner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/test_utils.hpp b/...nner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/test_utils.hpp
@@ -31,7 +31,8 @@ using autoware::planning_test_manager::PlanningInterfaceTestManager;
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager();
 
 std::shared_ptr<BehaviorPathPlannerNode> generateNode(
-  const std::vector<std::string> module_name_vec, std::vector<std::string> plugin_name_vec);
+  const std::vector<std::string> & module_name_vec,
+  const std::vector<std::string> & plugin_name_vec);
 
 void publishMandatoryTopics(
   std::shared_ptr<PlanningInterfaceTestManager> test_manager,

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp
@@ -40,20 +40,15 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 }
 
 std::shared_ptr<BehaviorPathPlannerNode> generateNode(
-  const std::vector<std::string> module_name_vec, std::vector<std::string> plugin_name_vec)
+  const std::vector<std::string> & module_name_vec,
+  const std::vector<std::string> & plugin_name_vec)
 {
   auto node_options = rclcpp::NodeOptions{};
   const auto autoware_test_utils_dir =
     ament_index_cpp::get_package_share_directory("autoware_test_utils");
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner");
 
-  const auto get_behavior_path_module_config = [](const std::string & module) {
-    const auto package_name = "autoware_behavior_path_" + module + "_module";
-    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
-    return package_path + "/config/" + module + ".param.yaml";
-  };
-
   std::vector<std::string> plugin_names;
   for (const auto & plugin_name : plugin_name_vec) {
     plugin_names.emplace_back(plugin_name);
@@ -63,6 +58,12 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode(
   params.emplace_back("launch_modules", plugin_names);
   node_options.parameter_overrides(params);
 
+  const auto get_behavior_path_module_config = [](const std::string & module) {
+    const auto package_name = "autoware_behavior_path_" + module + "_module";
+    const auto package_path = ament_index_cpp::get_package_share_directory(package_name);
+    return package_path + "/config/" + module + ".param.yaml";
+  };
+
   auto yaml_files = std::vector<std::string>{
     autoware_test_utils_dir + "/config/test_common.param.yaml",
     autoware_test_utils_dir + "/config/test_nearest_search.param.yaml",