Description

• Add test for pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent.
• In this test, I'm checking the following:
  • Whether the /test/sensing/lidar/concatenated/pointcloud topic is being published when the offset is exactly as designed.
  • Whether the number of points in the concatenated point cloud matches the sum of the number of points in the point clouds before concatenation.
• I chose the basic case following this code.

Related links

Tests performed

Build

$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON --packages-up-to pointcloud_preprocessor

Test

$ colcon test --packages-select pointcloud_preprocessor

Check the test result

$ colcon test-result --all --verbos
build/pointcloud_preprocessor/test_results/pointcloud_preprocessor/test_test_concatenate_data.py.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped
build/pointcloud_preprocessor/test_results/pointcloud_preprocessor/test_test_distortion_corrector.py.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped
build/pointcloud_preprocessor/test_results/pointcloud_preprocessor/test_test_distortion_corrector_use_imu_false.py.xunit.xml: 2 tests, 0 errors, 0 failures, 0 skipped
build/pointcloud_preprocessor/test_results/pointcloud_preprocessor/xmllint.xunit.xml: 7 tests, 0 errors, 0 failures, 0 skipped
Summary: 567 tests, 0 errors, 377 failures, 72 skipped

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

@kminoda
Please review this PR keeping the following points in mind, and give me an advice 🙏

• Please check if the test functions within pointcloud_preprocessor have been effectively modularized.
• Please check if the design is capable of handling various test cases.

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.