test_planner_random_node.cpp

// Copyright (c) 2018 Intel Corporation
//
// 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. Reserved.

#include <gtest/gtest.h>
#include <memory>
#include <vector>
#include <iostream>

#include "rclcpp/rclcpp.hpp"
#include "planner_tester.hpp"

using namespace std::chrono_literals;

using nav2_system_tests::PlannerTester;
using nav2_util::TestCostmap;

using ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped;
using ComputePathToPoseResult = nav_msgs::msg::Path;

TEST(testWithHundredRandomEndPoints, testWithHundredRandomEndPoints)
{
  auto obj = std::make_shared<PlannerTester>();
  obj->activate();
  obj->loadDefaultMap();

  bool success = false;
  int num_tries = 3;
  for (int i = 0; i != num_tries; i++) {
    success = success || obj->defaultPlannerRandomTests(100, 0.1);
    if (success) {
      break;
    }
  }

  EXPECT_EQ(true, success);
}

int main(int argc, char ** argv)
{
  ::testing::InitGoogleTest(&argc, argv);

  // initialize ROS
  rclcpp::init(argc, argv);

  bool all_successful = RUN_ALL_TESTS();

  // shutdown ROS
  rclcpp::shutdown();

  return all_successful;
}