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 \{\}

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Changelog for package autoware_test_utils

1.1.0 (2025-05-01)

• test(path_generator): add tests for path cut feature (#268)

  • add map for test
  • add overpass map
  • refactor & enhance base test class
  • add tests
  • style(pre-commit): autofix

  * fix year created Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • anonymize test map
  • style(pre-commit): autofix
  • add test map info to README
  • style(pre-commit): autofix
  • make tests work with autoware_trajectory
  • include necessary header
  • fix test case

  * 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: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• chore: include iostream and link yaml-cpp for Jazzy (#351)

• Contributors: Mitsuhiro Sakamoto, Tim Clephas

1.4.0 (2025-08-11)

• Merge remote-tracking branch 'origin/main' into humble

• feat: change planning output topic name to /planning/trajectory (#602)

  • change planning output topic name to /planning/trajectory

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: bump version to 1.3.0 (#554)

• fix(test_utils): add missing lane ids in [makeBehaviorNormalRoute()]{.title-ref} (#561) add missing lane ids

• test(path_generator): add extra tests (#449)

  • add map for test
  • update test cases for get_turn_signal()
  • rename test route files
  • add test with dense centerline
  • move dense centerline map to sample_map directory
  • add tests for get_arc_length_on_path
  • modify path start point to be inside route lanelet
  • add tests for smooth goal connection
  • include necessary header
  • remove ineffective test case
  • fix comment
  • remove unnecessary lines
  • fix test case for refine_path_for_goal
  • rename parameters
  • add missing argument

  * remove include guard ---------

• Contributors: Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Yukihiro Saito

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)

• feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• chore(autoware_test_utils): delete [launch]{.title-ref} directory to remove dependency on [autoware_launch]{.title-ref} (#498) remove launch

• fix(autoware_test_utils): fix linking to yaml-cpp (#315)

  • Fix linking to yaml-cpp
  • Remove find_package(yaml_cpp_vendor...)

  * wip

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