them file test static_layer

test/coordinates_test.cpp

@@ -0,0 +1,132 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// Tests ripped from https://github.com/locusrobotics/robot_navigation/blob/master/nav_grid/test/utest.cpp
+
+#include <gtest/gtest.h>
+#include <costmap_2d/costmap_2d.h>
+
+using namespace costmap_2d;
+
+TEST(CostmapCoordinates, easy_coordinates_test)
+{
+  Costmap2D costmap(2, 3, 1.0, 0, 0);
+
+  double wx, wy;
+  costmap.mapToWorld(0u, 0u, wx, wy);
+  EXPECT_DOUBLE_EQ(wx, 0.5);
+  EXPECT_DOUBLE_EQ(wy, 0.5);
+  costmap.mapToWorld(1u, 2u, wx, wy);
+  EXPECT_DOUBLE_EQ(wx, 1.5);
+  EXPECT_DOUBLE_EQ(wy, 2.5);
+
+  unsigned int umx, umy;
+  int mx, my;
+  ASSERT_TRUE(costmap.worldToMap(wx, wy, umx, umy));
+  EXPECT_EQ(umx, 1);
+  EXPECT_EQ(umy, 2);
+  costmap.worldToMapNoBounds(wx, wy, mx, my);
+  EXPECT_EQ(mx, 1);
+  EXPECT_EQ(my, 2);
+
+  // Invalid Coordinate
+  wx = 2.5;
+  EXPECT_FALSE(costmap.worldToMap(wx, wy, umx, umy));
+  costmap.worldToMapEnforceBounds(wx, wy, mx, my);
+  EXPECT_EQ(mx, 1);
+  EXPECT_EQ(my, 2);
+  costmap.worldToMapNoBounds(wx, wy, mx, my);
+  EXPECT_EQ(mx, 2);
+  EXPECT_EQ(my, 2);
+
+  // Border Cases
+  EXPECT_TRUE(costmap.worldToMap(0.0, wy, umx, umy));
+  EXPECT_EQ(umx, 0);
+  EXPECT_TRUE(costmap.worldToMap(0.25, wy, umx, umy));
+  EXPECT_EQ(umx, 0);
+  EXPECT_TRUE(costmap.worldToMap(0.75, wy, umx, umy));
+  EXPECT_EQ(umx, 0);
+  EXPECT_TRUE(costmap.worldToMap(0.9999, wy, umx, umy));
+  EXPECT_EQ(umx, 0);
+  EXPECT_TRUE(costmap.worldToMap(1.0, wy, umx, umy));
+  EXPECT_EQ(umx, 1);
+  EXPECT_TRUE(costmap.worldToMap(1.25, wy, umx, umy));
+  EXPECT_EQ(umx, 1);
+  EXPECT_TRUE(costmap.worldToMap(1.75, wy, umx, umy));
+  EXPECT_EQ(umx, 1);
+  EXPECT_TRUE(costmap.worldToMap(1.9999, wy, umx, umy));
+  EXPECT_EQ(umx, 1);
+  EXPECT_FALSE(costmap.worldToMap(2.0, wy, umx, umy));
+  costmap.worldToMapEnforceBounds(2.0, wy, mx, my);
+  EXPECT_EQ(mx, 1);
+}
+
+TEST(CostmapCoordinates, hard_coordinates_test)
+{
+  Costmap2D costmap(2, 3, 0.1, -0.2, 0.2);
+
+  double wx, wy;
+  costmap.mapToWorld(0, 0, wx, wy);
+  EXPECT_DOUBLE_EQ(wx, -0.15);
+  EXPECT_DOUBLE_EQ(wy, 0.25);
+  costmap.mapToWorld(1, 2, wx, wy);
+  EXPECT_DOUBLE_EQ(wx, -0.05);
+  EXPECT_DOUBLE_EQ(wy, 0.45);
+
+  unsigned int umx, umy;
+  int mx, my;
+  EXPECT_TRUE(costmap.worldToMap(wx, wy, umx, umy));
+  EXPECT_EQ(umx, 1);
+  EXPECT_EQ(umy, 2);
+  costmap.worldToMapNoBounds(wx, wy, mx, my);
+  EXPECT_EQ(mx, 1);
+  EXPECT_EQ(my, 2);
+
+  // Invalid Coordinate
+  wx = 2.5;
+  EXPECT_FALSE(costmap.worldToMap(wx, wy, umx, umy));
+  costmap.worldToMapEnforceBounds(wx, wy, mx, my);
+  EXPECT_EQ(mx, 1);
+  EXPECT_EQ(my, 2);
+  costmap.worldToMapNoBounds(wx, wy, mx, my);
+  EXPECT_EQ(mx, 27);
+  EXPECT_EQ(my, 2);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest( &argc, argv );
+  return RUN_ALL_TESTS();
+}
+

test/static_layer_test.cpp

@@ -0,0 +1,53 @@
+#include <boost/dll/import.hpp>
+#include <iostream>
+#include <costmap_2d/costmap_layer.h>
+#include <costmap_2d/layered_costmap.h>
+#include <tf2/buffer_core.h>
+#include <tf2/time.h>
+#include "nav_msgs/OccupancyGrid.h"
+using namespace costmap_2d;
+
+int main(int argc, char* argv[]) {
+
+    // Fix 1: Use correct path to the library
+    auto creator = boost::dll::import_alias<costmap_2d::PluginCostmapLayerPtr()>(
+        "./costmap_2d/liblayers.so", "create_plugin", boost::dll::load_mode::append_decorations
+    );
+
+    costmap_2d::PluginCostmapLayerPtr plugin = creator();
+    std::cout << "Plugin created successfully" << std::endl;
+    
+    // Fix 2: Initialize the plugin before calling activate()
+    // activate() calls onInitialize() which requires layered_costmap_ to be set
+    std::string global_frame = "map";
+    bool rolling_window = false;
+    bool track_unknown = true;
+    LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown);
+    
+    // Fix 3: tf2::BufferCore constructor requires ros::Duration parameter (not tf2::Duration)
+    tf2::BufferCore tf_buffer;
+    // tf2::Duration cache_time(10.0);  // 10 seconds cache time
+    // tf2::BufferCore tf_buffer(cache_time);
+    
+    // Initialize the layer with required parameters
+    plugin->initialize(&layered_costmap, "static_layer", &tf_buffer);
+    
+    std::cout << "Plugin initialized" << std::endl;
+    
+    // Now it's safe to call activate()
+    // plugin->activate();
+    nav_msgs::OccupancyGrid grid;
+
+    grid.info.resolution = 0.05f;
+    grid.info.width = 2;
+    grid.info.height = 2;
+
+    grid.data.resize(grid.info.width * grid.info.height, -1);
+    grid.data[0] = 0;    // Free cell
+    grid.data[1] = 100;  // Occupied cell
+    grid.data[2] = 10;  // Occupied cell
+    grid.data[3] = 0;    // Free cell
+    plugin->incomingMap(grid);
+    
+    std::cout << "Plugin activated successfully" << std::endl;
+}