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

1.0.0 (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

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