Adds configuration files test. (#172)
parent
12ea8386bb
commit
965490f611
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@ -22,8 +22,9 @@ set(PACKAGE_DEPENDENCIES
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geometry_msgs
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geometry_msgs
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nav_msgs
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nav_msgs
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pcl_conversions
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pcl_conversions
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roscpp
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rosbag
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rosbag
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roscpp
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roslib
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sensor_msgs
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sensor_msgs
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tf2
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tf2
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tf2_eigen
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tf2_eigen
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@ -93,6 +93,14 @@ google_library(time_conversion
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time_conversion.h
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time_conversion.h
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)
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)
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google_test(configuration_files_test
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USES_CARTOGRAPHER
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SRCS
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configuration_files_test.cc
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DEPENDS
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node_options
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)
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google_test(time_conversion_test
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google_test(time_conversion_test
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USES_CARTOGRAPHER
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USES_CARTOGRAPHER
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SRCS
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SRCS
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@ -0,0 +1,48 @@
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <string>
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#include <vector>
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#include "cartographer/common/configuration_file_resolver.h"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer_ros/node_options.h"
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#include "gtest/gtest.h"
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#include "ros/package.h"
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namespace cartographer_ros {
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namespace {
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class ConfigurationFilesTest : public ::testing::TestWithParam<const char*> {};
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TEST_P(ConfigurationFilesTest, ValidateNodeOptions) {
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EXPECT_NO_FATAL_FAILURE({
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auto file_resolver = ::cartographer::common::make_unique<
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::cartographer::common::ConfigurationFileResolver>(std::vector<string>{
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::ros::package::getPath("cartographer_ros") + "/configuration_files"});
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const string code = file_resolver->GetFileContentOrDie(GetParam());
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::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
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code, std::move(file_resolver), nullptr);
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::cartographer_ros::CreateNodeOptions(&lua_parameter_dictionary);
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});
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}
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INSTANTIATE_TEST_CASE_P(ValidateAllNodeOptions, ConfigurationFilesTest,
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::testing::Values("backpack_2d.lua", "backpack_3d.lua",
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"pr2.lua", "revo_lds.lua"));
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} // namespace
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} // namespace cartographer_ros
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@ -22,7 +22,6 @@
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/common/port.h"
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/map_builder.h"
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#include "cartographer/mapping/map_builder.h"
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#include "cartographer_ros/sensor_bridge.h"
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#include "cartographer_ros/sensor_bridge.h"
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namespace cartographer_ros {
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namespace cartographer_ros {
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@ -36,9 +36,9 @@ options = {
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MAP_BUILDER.use_trajectory_builder_2d = true
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MAP_BUILDER.use_trajectory_builder_2d = true
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TRAJECTORY_BUILDER_2D.laser_min_range = 0.3,
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TRAJECTORY_BUILDER_2D.laser_min_range = 0.3
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TRAJECTORY_BUILDER_2D.laser_max_range = 8.,
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TRAJECTORY_BUILDER_2D.laser_max_range = 8.
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TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1.,
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TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 1.
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TRAJECTORY_BUILDER_2D.use_imu_data = false
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TRAJECTORY_BUILDER_2D.use_imu_data = false
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TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
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TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
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