Tests that verify the pluginlib plugin registration, loading, and correctness of all built-in PerceptionHandler plugins. More...

#include <memory>
#include <rclcpp/callback_group.hpp>
#include <string>
#include <vector>
#include "pluginlib/class_loader.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "easynav_sensors/SensorsNode.hpp"
#include "easynav_sensors/types/Perceptions.hpp"
#include "easynav_sensors/types/PointPerception.hpp"
#include "easynav_sensors/types/IMUPerception.hpp"
#include "easynav_sensors/types/GNSSPerception.hpp"
#include "easynav_sensors/types/ImagePerception.hpp"
#include "easynav_sensors/types/DetectionsPerception.hpp"
#include "easynav_common/types/NavState.hpp"
#include "gtest/gtest.h"

Include dependency graph for plugin_tests.cpp:

Classes
class	PerceptionHandler
	Abstract base class for pluginlib-based sensor perception handlers. More...
class	PluginTestCase
class	SensorsNodeForTesting
	Subclass of SensorsNode that exposes the protected groups_ and handler_list_ for unit testing. More...

Functions
	TEST_F (PluginTestCase, all_plugins_are_available)
	TEST_F (PluginTestCase, configure_fails_on_nonexistent_plugin)
	TEST_F (PluginTestCase, configure_fails_on_unknown_message_type)
	TEST_F (PluginTestCase, explicit_plugin_does_not_override_default_for_other_sensors)
	TEST_F (PluginTestCase, two_sensor_types_same_group_both_populate_nav_state)

Detailed Description

Tests that verify the pluginlib plugin registration, loading, and correctness of all built-in PerceptionHandler plugins.

Function Documentation

◆ TEST_F() [1/5]

TEST_F	(	PluginTestCase	,
		all_plugins_are_available	)

◆ TEST_F() [2/5]

TEST_F	(	PluginTestCase	,
		configure_fails_on_nonexistent_plugin	)

◆ TEST_F() [3/5]

TEST_F	(	PluginTestCase	,
		configure_fails_on_unknown_message_type	)

◆ TEST_F() [4/5]

TEST_F	(	PluginTestCase	,
		explicit_plugin_does_not_override_default_for_other_sensors	)

◆ TEST_F() [5/5]

TEST_F	(	PluginTestCase	,
		two_sensor_types_same_group_both_populate_nav_state	)

Classes