Revert costmap downsampler test changes

Signed-off-by: Sarthak Mittal <[email protected]>
ros-navigation · Nov 2, 2020 · 0277cdc · 0277cdc
1 parent b489965
commit 0277cdc
Showing 1 changed file with 10 additions and 87 deletions.
diff --git a/smac_planner/test/test_costmap_downsampler.cpp b/smac_planner/test/test_costmap_downsampler.cpp
@@ -13,7 +13,6 @@
 // limitations under the License. Reserved.
 
 #include <memory>
-#include <string>
 #include <vector>
 
 #include "gtest/gtest.h"
@@ -30,115 +29,39 @@ class RclCppFixture
 };
 RclCppFixture g_rclcppfixture;
 
-class TestNode : public nav2_util::LifecycleNode
-{
-public:
-  TestNode()
-  : nav2_util::LifecycleNode("CostmapDownsamplerTest"),
-    costmap_(nullptr),
-    downsampler_(nullptr) {}
-
-  void setCostmap(nav2_costmap_2d::Costmap2D * const costmap)
-  {
-    costmap_ = costmap;
-  }
-
-  std::shared_ptr<smac_planner::CostmapDownsampler> getDownsampler()
-  {
-    return downsampler_;
-  }
-
-protected:
-  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override
-  {
-    RCLCPP_INFO(get_logger(), "Configuring");
-    downsampler_ = std::make_shared<smac_planner::CostmapDownsampler>();
-    downsampler_->on_configure(shared_from_this(), "map", "unused_topic", costmap_, 2);
-    return nav2_util::CallbackReturn::SUCCESS;
-  }
-
-  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override
-  {
-    RCLCPP_INFO(get_logger(), "Activating");
-    downsampler_->on_activate();
-    return nav2_util::CallbackReturn::SUCCESS;
-  }
-
-  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override
-  {
-    RCLCPP_INFO(get_logger(), "Deactivating");
-    downsampler_->on_deactivate();
-    return nav2_util::CallbackReturn::SUCCESS;
-  }
-
-  nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override
-  {
-    RCLCPP_INFO(get_logger(), "Cleaning up");
-    downsampler_->on_cleanup();
-    return nav2_util::CallbackReturn::SUCCESS;
-  }
-
-private:
-  nav2_costmap_2d::Costmap2D * costmap_;
-  std::shared_ptr<smac_planner::CostmapDownsampler> downsampler_;
-};
-
 TEST(CostmapDownsampler, costmap_downsample_test)
 {
-  auto node = std::make_shared<TestNode>();
+  nav2_util::LifecycleNode::SharedPtr node = std::make_shared<nav2_util::LifecycleNode>(
+    "CostmapDownsamplerTest");
+  smac_planner::CostmapDownsampler downsampler;
 
   // create basic costmap
   nav2_costmap_2d::Costmap2D costmapA(10, 10, 0.05, 0.0, 0.0, 0);
   costmapA.setCost(0, 0, 100);
   costmapA.setCost(5, 5, 50);
 
-  // set costmap for testing
-  node->setCostmap(&costmapA);
-
-  // configure and activate test node
-  node->configure();
-  node->activate();
-
-  // get downsampler
-  auto downsampler = node->getDownsampler();
-
   // downsample it
-  nav2_costmap_2d::Costmap2D * downsampledCostmapA = downsampler->downsample(2);
+  downsampler.on_configure(node, "map", "unused_topic", &costmapA, 2);
+  nav2_costmap_2d::Costmap2D * downsampledCostmapA = downsampler.downsample(2);
 
   // validate it
   EXPECT_EQ(downsampledCostmapA->getCost(0, 0), 100);
   EXPECT_EQ(downsampledCostmapA->getCost(2, 2), 50);
   EXPECT_EQ(downsampledCostmapA->getSizeInCellsX(), 5u);
   EXPECT_EQ(downsampledCostmapA->getSizeInCellsY(), 5u);
 
-  // deactivate and cleanup test node
-  node->deactivate();
-  node->cleanup();
-
   // give it another costmap of another size
   nav2_costmap_2d::Costmap2D costmapB(4, 4, 0.10, 0.0, 0.0, 0);
 
-  // set costmap for testing
-  node->setCostmap(&costmapB);
-
-  // configure and activate test node
-  node->configure();
-  node->activate();
-
-  // get downsampler
-  downsampler = node->getDownsampler();
-
   // downsample it
-  nav2_costmap_2d::Costmap2D * downsampledCostmapB = downsampler->downsample(4);
+  downsampler.on_configure(node, "map", "unused_topic", &costmapB, 4);
+  downsampler.on_activate();
+  nav2_costmap_2d::Costmap2D * downsampledCostmapB = downsampler.downsample(4);
+  downsampler.on_deactivate();
 
   // validate size
   EXPECT_EQ(downsampledCostmapB->getSizeInCellsX(), 1u);
   EXPECT_EQ(downsampledCostmapB->getSizeInCellsY(), 1u);
 
-  downsampler->resizeCostmap();
-
-  // deactivate and cleanup test node
-  node->deactivate();
-  node->cleanup();
-  node->shutdown();
+  downsampler.resizeCostmap();
 }