add humble-navigation2

navigation2/nav2_smac_planner/test/test_nodebasic.cpp

@@ -0,0 +1,55 @@
+// Copyright (c) 2020, 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 "rclcpp/rclcpp.hpp"
+#include "nav2_costmap_2d/costmap_2d.hpp"
+#include "nav2_costmap_2d/costmap_subscriber.hpp"
+#include "nav2_util/lifecycle_node.hpp"
+#include "nav2_smac_planner/node_basic.hpp"
+#include "nav2_smac_planner/node_2d.hpp"
+#include "nav2_smac_planner/node_hybrid.hpp"
+#include "nav2_smac_planner/node_lattice.hpp"
+#include "nav2_smac_planner/collision_checker.hpp"
+
+class RclCppFixture
+{
+public:
+  RclCppFixture() {rclcpp::init(0, nullptr);}
+  ~RclCppFixture() {rclcpp::shutdown();}
+};
+RclCppFixture g_rclcppfixture;
+
+TEST(NodeBasicTest, test_node_basic)
+{
+  nav2_smac_planner::NodeBasic<nav2_smac_planner::NodeHybrid> node(50);
+
+  EXPECT_EQ(node.index, 50u);
+  EXPECT_EQ(node.graph_node_ptr, nullptr);
+
+  nav2_smac_planner::NodeBasic<nav2_smac_planner::Node2D> node2(100);
+
+  EXPECT_EQ(node2.index, 100u);
+  EXPECT_EQ(node2.graph_node_ptr, nullptr);
+
+  nav2_smac_planner::NodeBasic<nav2_smac_planner::NodeLattice> node3(200);
+
+  EXPECT_EQ(node3.index, 200u);
+  EXPECT_EQ(node3.graph_node_ptr, nullptr);
+}