adding unit test

Author: SteveMacenski

nav2_util/include/nav2_util/base_footprint_publisher.hpp

@@ -16,6 +16,7 @@
 #define NAV2_UTIL__BASE_FOOTPRINT_PUBLISHER_HPP_
 
 #include <string>
+#include <memory>
 
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
@@ -24,6 +25,7 @@
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/transform_broadcaster.h"
 #include "tf2_ros/buffer.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/utils.h"
 
 namespace nav2_util
@@ -36,6 +38,7 @@ namespace nav2_util
  */
 class BaseFootprintPublisherListener : public tf2_ros::TransformListener
 {
+public:
   BaseFootprintPublisherListener(tf2::BufferCore & buffer, bool spin_thread, rclcpp::Node & node)
   : tf2_ros::TransformListener(buffer, spin_thread)
   {
@@ -72,7 +75,7 @@ class BaseFootprintPublisherListener : public tf2_ros::TransformListener
         transform.transform.translation.z = 0.0;
 
         // Remove Roll and Pitch
-        tf::Quaternion q;
+        tf2::Quaternion q;
         q.setRPY(0, 0, tf2::getYaw(t.transform.rotation));
         q.normalize();
         transform.transform.rotation.x = q.x();
@@ -103,17 +106,17 @@ class BaseFootprintPublisher : public rclcpp::Node
   /**
    * @brief A constructor
    */
-  BaseFootprintPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
+  explicit BaseFootprintPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
   : Node("base_footprint_publisher", options)
   {
     RCLCPP_INFO(get_logger(), "Creating base footprint publisher");
     tf_buffer_ = std::make_shared<tf2_ros::Buffer>(get_clock());
     auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
       get_node_base_interface(),
-      get_node_timers_interface(),
-      callback_group_);
+      get_node_timers_interface());
     tf_buffer_->setCreateTimerInterface(timer_interface);
-    listener_publisher_ = std::make_shared<BaseFootprintPublisherListener>(*tf_buffer_, *this);
+    listener_publisher_ = std::make_shared<BaseFootprintPublisherListener>(
+      *tf_buffer_, true, *this);
   }
 
 protected:

nav2_util/test/CMakeLists.txt

@@ -41,3 +41,7 @@ target_link_libraries(test_odometry_utils ${library_name})
 ament_add_gtest(test_robot_utils test_robot_utils.cpp)
 ament_target_dependencies(test_robot_utils geometry_msgs)
 target_link_libraries(test_robot_utils ${library_name})
+
+ament_add_gtest(test_base_footprint_publisher test_base_footprint_publisher.cpp)
+ament_target_dependencies(test_base_footprint_publisher geometry_msgs)
+target_link_libraries(test_base_footprint_publisher ${library_name})

nav2_util/test/test_base_footprint_publisher.cpp

@@ -0,0 +1,72 @@
+// Copyright (c) 2023 Open Navigation LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <memory>
+
+#include "nav2_util/base_footprint_publisher.hpp"
+#include "gtest/gtest.h"
+#include "tf2/exceptions.h"
+
+class RclCppFixture
+{
+public:
+  RclCppFixture() {rclcpp::init(0, nullptr);}
+  ~RclCppFixture() {rclcpp::shutdown();}
+};
+RclCppFixture g_rclcppfixture;
+
+TEST(TestBaseFootprintPublisher, TestBaseFootprintPublisher)
+{
+  auto node = std::make_shared<nav2_util::BaseFootprintPublisher>();
+  rclcpp::spin_some(node->get_node_base_interface());
+
+  auto tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(node);
+  auto buffer = std::make_shared<tf2_ros::Buffer>(node->get_clock());
+  auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
+    node->get_node_base_interface(),
+    node->get_node_timers_interface());
+  buffer->setCreateTimerInterface(timer_interface);
+  auto listener = std::make_shared<tf2_ros::TransformListener>(*buffer, true);
+
+  std::string base_link = "base_link";
+  std::string base_footprint = "base_footprint";
+
+  // Publish something to TF, should fail, doesn't exist
+  geometry_msgs::msg::TransformStamped transform;
+  transform.header.stamp = node->now();
+  transform.header.frame_id = "test1_1";
+  transform.child_frame_id = "test1";
+  tf_broadcaster->sendTransform(transform);
+  rclcpp::spin_some(node->get_node_base_interface());
+  EXPECT_THROW(
+    buffer->lookupTransform(base_link, base_footprint, tf2::TimePointZero),
+    tf2::TransformException);
+
+  // This is valid, should work now and communicate the Z-removed info
+  transform.header.stamp = node->now();
+  transform.header.frame_id = "odom";
+  transform.child_frame_id = "base_link";
+  transform.transform.translation.x = 1.0;
+  transform.transform.translation.y = 1.0;
+  transform.transform.translation.z = 1.0;
+  tf_broadcaster->sendTransform(transform);
+  rclcpp::Rate r(1.0);
+  r.sleep();
+  rclcpp::spin_some(node->get_node_base_interface());
+  auto t = buffer->lookupTransform(base_link, base_footprint, tf2::TimePointZero);
+  EXPECT_EQ(t.transform.translation.x, 1.0);
+  EXPECT_EQ(t.transform.translation.y, 1.0);
+  EXPECT_EQ(t.transform.translation.z, 0.0);
+}