add humble-navigation2

navigation2/nav2_controller/test/test_dynamic_parameters.cpp

@@ -0,0 +1,88 @@
+// Copyright (c) 2021, Samsung Research America
+//
+// 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 <math.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "gtest/gtest.h"
+#include "nav2_util/lifecycle_node.hpp"
+#include "nav2_controller/controller_server.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class ControllerShim : public nav2_controller::ControllerServer
+{
+public:
+  ControllerShim()
+  : nav2_controller::ControllerServer(rclcpp::NodeOptions())
+  {
+  }
+
+  // Since we cannot call configure/activate due to costmaps
+  // requiring TF
+  void setDynamicCallback()
+  {
+    auto node = shared_from_this();
+    // Add callback for dynamic parameters
+    dyn_params_handler_ = node->add_on_set_parameters_callback(
+      std::bind(&ControllerShim::dynamicParamsShim, this, std::placeholders::_1));
+  }
+
+  rcl_interfaces::msg::SetParametersResult
+  dynamicParamsShim(std::vector<rclcpp::Parameter> parameters)
+  {
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
+    dynamicParametersCallback(parameters);
+    return result;
+  }
+};
+
+class RclCppFixture
+{
+public:
+  RclCppFixture() {rclcpp::init(0, nullptr);}
+  ~RclCppFixture() {rclcpp::shutdown();}
+};
+RclCppFixture g_rclcppfixture;
+
+TEST(WPTest, test_dynamic_parameters)
+{
+  auto controller = std::make_shared<ControllerShim>();
+  controller->setDynamicCallback();
+
+  auto rec_param = std::make_shared<rclcpp::AsyncParametersClient>(
+    controller->get_node_base_interface(), controller->get_node_topics_interface(),
+    controller->get_node_graph_interface(),
+    controller->get_node_services_interface());
+
+  auto results = rec_param->set_parameters_atomically(
+    {rclcpp::Parameter("controller_frequency", 100.0),
+      rclcpp::Parameter("min_x_velocity_threshold", 100.0),
+      rclcpp::Parameter("min_y_velocity_threshold", 100.0),
+      rclcpp::Parameter("min_theta_velocity_threshold", 100.0),
+      rclcpp::Parameter("failure_tolerance", 5.0)});
+
+  rclcpp::spin_until_future_complete(
+    controller->get_node_base_interface(),
+    results);
+
+  EXPECT_EQ(controller->get_parameter("controller_frequency").as_double(), 100.0);
+  EXPECT_EQ(controller->get_parameter("min_x_velocity_threshold").as_double(), 100.0);
+  EXPECT_EQ(controller->get_parameter("min_y_velocity_threshold").as_double(), 100.0);
+  EXPECT_EQ(controller->get_parameter("min_theta_velocity_threshold").as_double(), 100.0);
+  EXPECT_EQ(controller->get_parameter("failure_tolerance").as_double(), 5.0);
+}