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Merge pull request #765 from tier4/sync-upstream
chore: sync upstream
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| Original file line number | Diff line number | Diff line change |
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| cmake_minimum_required(VERSION 3.14) | ||
| project(glog_component) | ||
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| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
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| ament_auto_add_library(glog_component SHARED | ||
| src/glog_component.cpp | ||
| ) | ||
| target_link_libraries(glog_component glog) | ||
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| rclcpp_components_register_node(glog_component | ||
| PLUGIN "GlogComponent" | ||
| EXECUTABLE glog_component_node | ||
| ) | ||
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| ament_auto_package() |
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| # glog_component | ||
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| This package provides the glog (google logging library) feature as a ros2 component library. This is used to dynamically load the glog feature with container. | ||
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| See the [glog github](https://github.com/google/glog) for the details of its features. | ||
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| ## Example | ||
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| When you load the `glog_component` in container, the launch file can be like below: | ||
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| ```py | ||
| glog_component = ComposableNode( | ||
| package="glog_component", | ||
| plugin="GlogComponent", | ||
| name="glog_component", | ||
| ) | ||
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| container = ComposableNodeContainer( | ||
| name="my_container", | ||
| namespace="", | ||
| package="rclcpp_components", | ||
| executable=LaunchConfiguration("container_executable"), | ||
| composable_node_descriptions=[ | ||
| component1, | ||
| component2, | ||
| glog_component, | ||
| ], | ||
| ) | ||
| ``` |
28 changes: 28 additions & 0 deletions
28
common/glog_component/include/glog_component/glog_component.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #ifndef GLOG_COMPONENT__GLOG_COMPONENT_HPP_ | ||
| #define GLOG_COMPONENT__GLOG_COMPONENT_HPP_ | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <glog/logging.h> | ||
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| class GlogComponent : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit GlogComponent(const rclcpp::NodeOptions & node_options); | ||
| }; | ||
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| #endif // GLOG_COMPONENT__GLOG_COMPONENT_HPP_ |
17 changes: 9 additions & 8 deletions
17
sensing/geo_pos_conv/package.xml → common/glog_component/package.xml
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| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>geo_pos_conv</name> | ||
| <version>2.0.0</version> | ||
| <description>The ROS 2 geo_pos_conv package</description> | ||
| <maintainer email="[email protected]">Yamato Ando</maintainer> | ||
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| <name>glog_component</name> | ||
| <version>0.1.0</version> | ||
| <description>The glog_component package</description> | ||
| <maintainer email="[email protected]">Takamasa Horibe</maintainer> | ||
| <license>Apache License 2.0</license> | ||
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| <author email="[email protected]">Takamasa Horibe</author> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
| <buildtool_depend>autoware_cmake</buildtool_depend> | ||
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| <depend>libgoogle-glog-dev</depend> | ||
| <depend>rclcpp</depend> | ||
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>autoware_lint_common</test_depend> | ||
| <depend>rclcpp_components</depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #include "glog_component/glog_component.hpp" | ||
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| GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) | ||
| : Node("glog_component", node_options) | ||
| { | ||
| google::InitGoogleLogging("glog_component"); | ||
| google::InstallFailureSignalHandler(); | ||
| } | ||
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| #include <rclcpp_components/register_node_macro.hpp> | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(GlogComponent) |
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96 changes: 96 additions & 0 deletions
96
common/traffic_light_utils/test/test_traffic_light_utils.cpp
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #include "gtest/gtest.h" | ||
| #include "traffic_light_utils/traffic_light_utils.hpp" | ||
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| namespace traffic_light_utils | ||
| { | ||
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| TEST(isRoiValid, roi_validity) | ||
| { | ||
| tier4_perception_msgs::msg::TrafficLightRoi test_roi; | ||
| test_roi.roi.x_offset = 300; | ||
| test_roi.roi.y_offset = 200; | ||
| test_roi.roi.width = 340; | ||
| test_roi.roi.height = 200; | ||
| uint32_t img_width = 640; | ||
| uint32_t img_heigh = 480; | ||
| EXPECT_FALSE(isRoiValid(test_roi, img_width, img_heigh)); | ||
| test_roi.roi.width = 339; | ||
| EXPECT_TRUE(isRoiValid(test_roi, img_width, img_heigh)); | ||
| } | ||
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| TEST(setRoiInvalid, set_roi_size) | ||
| { | ||
| tier4_perception_msgs::msg::TrafficLightRoi test_roi; | ||
| test_roi.roi.x_offset = 300; | ||
| test_roi.roi.y_offset = 200; | ||
| test_roi.roi.width = 300; | ||
| test_roi.roi.height = 200; | ||
| EXPECT_EQ(test_roi.roi.width, (uint32_t)300); | ||
| EXPECT_EQ(test_roi.roi.height, (uint32_t)200); | ||
| setRoiInvalid(test_roi); | ||
| EXPECT_EQ(test_roi.roi.width, (uint32_t)0); | ||
| EXPECT_EQ(test_roi.roi.height, (uint32_t)0); | ||
| } | ||
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| TEST(isSignalUnknown, signal_element) | ||
| { | ||
| tier4_perception_msgs::msg::TrafficSignal test_signal; | ||
| tier4_perception_msgs::msg::TrafficLightElement element; | ||
| element.color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; | ||
| element.shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; | ||
| test_signal.elements.push_back(element); | ||
| EXPECT_TRUE(isSignalUnknown(test_signal)); | ||
| test_signal.elements[0].color = tier4_perception_msgs::msg::TrafficLightElement::RED; | ||
| EXPECT_FALSE(isSignalUnknown(test_signal)); | ||
| } | ||
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| TEST(setSignalUnknown, set_signal_element) | ||
| { | ||
| tier4_perception_msgs::msg::TrafficSignal test_signal; | ||
| tier4_perception_msgs::msg::TrafficLightElement element; | ||
| element.color = tier4_perception_msgs::msg::TrafficLightElement::RED; | ||
| element.shape = tier4_perception_msgs::msg::TrafficLightElement::CROSS; | ||
| test_signal.elements.push_back(element); | ||
| EXPECT_EQ(test_signal.elements[0].color, tier4_perception_msgs::msg::TrafficLightElement::RED); | ||
| EXPECT_EQ(test_signal.elements[0].shape, tier4_perception_msgs::msg::TrafficLightElement::CROSS); | ||
| setSignalUnknown(test_signal, 1.23f); | ||
| EXPECT_EQ( | ||
| test_signal.elements[0].color, tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN); | ||
| EXPECT_EQ( | ||
| test_signal.elements[0].shape, tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN); | ||
| EXPECT_FLOAT_EQ(test_signal.elements[0].confidence, (float)1.23); | ||
| } | ||
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| TEST(getTrafficLightCenter, get_signal) | ||
| { | ||
| lanelet::LineString3d lineString; | ||
| lanelet::Point3d p0(0, 0, 0, 0); | ||
| lanelet::Point3d p1(1, 1, 1, 1); | ||
| lanelet::Point3d p2(2, 2, 2, 2); | ||
| lanelet::Point3d p3(3, 3, 3, 3); | ||
| lineString.push_back(p0); | ||
| lineString.push_back(p1); | ||
| lineString.push_back(p2); | ||
| lineString.push_back(p3); | ||
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| lanelet::ConstLineString3d test_light(lineString); | ||
| EXPECT_FLOAT_EQ(getTrafficLightCenter(test_light).x(), (float)1.5); | ||
| EXPECT_FLOAT_EQ(getTrafficLightCenter(test_light).y(), (float)1.5); | ||
| EXPECT_FLOAT_EQ(getTrafficLightCenter(test_light).z(), (float)1.5); | ||
| } | ||
|
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| } // namespace traffic_light_utils |
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