Test Utils

Background

Several Autoware’s components and modules have already adopted unit testing, so a common library to ease the process of writing unit tests is necessary.

Purpose

The objective of the test_utils is to develop a unit testing library for the Autoware components. This library will include

• commonly used functions
• input/mock data parser
• maps for testing
• common routes and mock data for testing.

Available Maps

The following maps are available here

Common

The common map contains multiple types of usable inputs, including shoulder lanes, intersections, and some regulatory elements. The common map is named lanelet2_map.osm in the folder.

2 km Straight

The 2 km straight lanelet map consists of two lanes that run in the same direction. The map is named 2km_test.osm.

The following illustrates the design of the map.

road_shoulders

The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including:

• pick-up/drop-off sites on the side of street lanes
• pick-up/drop-off sites on the side of curved lanes
• pick-up/drop-off sites inside a private area

You can easily launch planning_simulator by

ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true

intersection

The intersections lanelet map consist of a variety of intersections including:

• 4-way crossing with traffic light
• 4-way crossing without traffic light
• T-shape crossing without traffic light
• intersection with a loop
• complicated intersection

You can easily launch planning_simulator by

ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true

overlap

The overlap lanelet map includes

• U-turn with a gap
• U-turn with full crossing
• U-turn with half crossing
• overpass

Example use cases

Autoware Planning Test Manager

The goal of the Autoware Planning Test Manager is to test planning module nodes. The PlanningInterfaceTestManager class (source code) creates wrapper functions based on the test_utils functions.

Generate test data for unit testing

As presented in this PR description, the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map.

ros2 launch autoware_test_utils psim_road_shoulder.launch.xml
ros2 launch autoware_test_utils psim_intersection.launch.xml

It uses the autoware sample_vehicle_description and sample_sensor_kit by default, and autoware_test_utils/config/test_vehicle_info.param.yaml is exactly the same as that of sample_vehicle_description. If specified, vehicle_model/sensor_model argument is available.

ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\}

The list and field names of the topics to be saved are specified in config/sample_topic_snapshot.yaml.

# setting
fields:
  - name: self_odometry # this is the field name for this topic
    type: Odometry # the abbreviated type name of this topic
    topic: /localization/kinematic_state # the name of this topic

# output
self_odometry:
  - header: ...
    ...

Each field can be parsed to ROS message type using the functions defined in autoware_test_utils/mock_data_parser.hpp

Changelog for package autoware_test_utils

1.0.0 (2025-03-31)

0.3.0 (2025-03-21)

• chore: fix versions in package.xml
• feat(trajectory): improve comment, use autoware_pyplot for examples (#282) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
• feat(autoware_path_generator): function to smooth the path (#227) * feat: function to smooth the route (see below) Description: This commit is kind of feature porting from [autoware.universe]{.title-ref} as follows * Import [PathWithLaneId DefaultFixedGoalPlanner::modifyPathForSmoothGoalConnection]{.title-ref} from the following [autoware.universe]{.title-ref} code https://github.com/autowarefoundation/autoware.universe/blob/a0816b7e3e35fbe822fefbb9c9a8132365608b49/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp#L74-L104
  • Also import all related functions from the [autoware.universe]{.title-ref} side
  • style(pre-commit): autofix
  • bugs: fix remaining conflicts

  * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • refactor: as follows
  • Enhance error handlings
  • Remove unused variables
  • Simplify the code
  • Improve readability a little bit
  • style(pre-commit): autofix
  • refactor: enhance error handling
  • style(pre-commit): autofix
  • bug: fix wrong function declaration in header
  • bug: fix wrong point index calculation
  • bug: remove meaningless comment
  • This comment is wrote because of my misunderstanding
  • fix: apply [pre-commit]{.title-ref}
  • fix: smooth path before cropping trajectory points
  • bug: fix shadow variable
  • bug: fix missing parameters for [autoware_path_generator]{.title-ref}
  • bug: fix by cpplint
  • style(pre-commit): autofix
  • bug: apply missing fix proposed by cpplint
  • style(pre-commit): autofix
  • bug: [autoware_test_utils]{.title-ref} should be in the [test_depend]{.title-ref}
  • fix(autoware_path_generator): add maintainer and author
  • style(pre-commit): autofix
  • fix: by pre-commit
  • Sorry, I was forgetting to do this on my local env.
  • fix: smooth path only when a goal point is included
  • bug: do error handling
  • style(pre-commit): autofix
  • bug: fix wrong distance calculation
  • The goal position is generally separate from the path points
  • fix: remove sanity check temporary as following reasons
  • CI (especially unit tests) fails due to this sanity check

  * As this is out of scope for this PR, we will fix the bug where the start and end are reversed in another PR

  • refactor: fix complexity
  • We should start from the simple one
  • Then we can add the necessary optimization later
  • bug: missing fixes in the include header
  • bug: inconsistent function declaration
  • The type of returned value and arguments were wrong

  * Update planning/autoware_path_generator/include/autoware/path_generator/common_structs.hpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/autoware_path_generator/src/node.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • style(pre-commit): autofix
  • fix: apply comment in the following PR
  • https://github.com/autowarefoundation/autoware.core/pull/227#discussion_r1986045016
  • fix: sorry, I was missing one comment to be applied
  • style(pre-commit): autofix
  • bug: fix wrong goal point interpolation
  • feat: add test case (goal on left side)
  • bug: fix as follows
  • Prevent name duplication (path_up_to_just_before_pre_goal)
  • Fix missing left/right bound
  • Goal must have zero velocity
  • Improve readability
  • Other minor fixes
  • bug: fix duplicated zero velocity set
  • Zero velocity is set after the removed lines by this commit
  • feat: add one test case (goal on left side)

  * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • fix: apply comment from reviewer
  • fix(package.xml): update maintainer for the following packages
  • [autoware_planning_test_manager]{.title-ref}
  • [autoware_test_utils]{.title-ref}

  * Update planning/autoware_path_generator/src/node.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Mitsuhiro Sakamoto <<50359861+mitukou1109@users.noreply.github.com>> * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Mitsuhiro Sakamoto <<50359861+mitukou1109@users.noreply.github.com>>

  • bug: fix missing header in the path
  • This finally causes an issue that the vehicle cannot engage
  • bug: fix an issue that smooth connection does not work
  • refactor: simplify code
  • bug: fix wrong pose at the goal (see below)

  * If we return nullopt here, the original path whose goal position is located at the center line is used. * Unless far from the goal point, the path becomes smoothed one whose goal position is located at the side of road correctly. * But as the goal approaches very closely, the goal position is shifted from smoothed one to the original one

  • Thus, the goal pose finally becomes wrong due to the goal position shift
  • refactor: no need this line here
  • style(pre-commit): autofix
  • bug: fix so we follow the provided review comments
  • bug: sorry, this is unsaved fix, ...
  • cosmetic: fix wrong comment
  • bug: unused function [get_goal_lanelet()]{.title-ref} remaining
  • bug: carefully handle the pre goal velocity
  • It seems zero pre goal velocity makes scenario fail
  • We need to insert appropriate velocity for pre goal

  * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/autoware_path_generator/src/utils.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: Mitsuhiro Sakamoto <<50359861+mitukou1109@users.noreply.github.com>>

• fix(autoware_test_utils): set timestamp in building trajectory msg (#245)
• docs(autoware_test_utils): fix invalid link (#229)
• chore(autoware_test_utils): fix invalid link (#221)
• feat(autoware_test_utils): porting autoware_test_utils from universe to core (#172)
• Contributors: JianKangEgon, Junya Sasaki, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, mitsudome-r