CAR 6008 - Temporarily disable failing unit tests in carma-platform's…

… CI (#2333) * disable failing unit tests * resolve conflicts * disable ros1 unit tests * diasbled unit tests * disable ros test: * fixes for disabling unit test * fix for disabling platoon controllers ros test * fix for disabling platoon controllers ros test2 * fix for disabling platoon controllers ros test3 * fix for disabling platoon controllers ros test4 * skip some ros2 pkgs in ros1 build * skip test of ros2 pkgs * skip test of ros2 pkgs2 * skip test of ros2 pkgs3 * skip test of ros2 pkgs4 * skip test of ros2 pkgs5 * skip test of ros2 pkgs6 * update ci to run on 8 core * disable some ros2 tests * skip some ros2 unit tests * skip some ros2 unit tests * skip some ros2 unit tests2 * skip some ros2 unit tests3 * disable unit tests * disable utils tests ros1 * disable more unit tests * disable more tests * disable ctest * add comments and github issue to disabled tests * update comment * address PR comments * disable test for stop and dwell * address pr comments * removed TODO * comment failing test
usdot-fhwa-stol · Mar 8, 2024 · 3e7ca4f · 3e7ca4f
1 parent 9d92822
commit 3e7ca4f
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Showing 42 changed files with 2,008 additions and 1,849 deletions.
diff --git a/.github/workflows/Ci.yml b/.github/workflows/Ci.yml
@@ -13,7 +13,7 @@ jobs:
  working-directory: "/opt/carma/"
 
  # Specify the runner environment
- runs-on: ubuntu-latest
+ runs-on: ubuntu-latest-8-cores
 
  # Set up a Docker container for the job
  container:
@@ -58,9 +58,13 @@ jobs:
  - name: Run ROS1 C++ Tests
  # Run ROS1 C++ tests
  # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh"
+
+ # These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+ # Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+ # some ROS2 packages unit tests are triggered during ROS1 tests, so they are temporarily being skipped.
  run: |
  source "$INIT_ENV"
- sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs tracetools tracetools_test /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
+ sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs tracetools tracetools_test carma_launch_testing carma_message_utilities ros2bag ros2trace tracetools_launch tracetools_read tracetools_trace rosbag2 carma_utils /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
  make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
 
  - name: Backup ROS1 compile_commands.json

diff --git a/approaching_emergency_vehicle_plugin/test/test_approaching_erv.cpp b/approaching_emergency_vehicle_plugin/test/test_approaching_erv.cpp
diff --git a/basic_autonomy/test/test_waypoint_generation.cpp b/basic_autonomy/test/test_waypoint_generation.cpp
@@ -833,7 +833,10 @@ TEST(BasicAutonomyTest, get_nearest_basic_point_index)
  detailed_config, visited_lanelets), std::invalid_argument);
  }
 
+ // These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+ // Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
 
+ /**
  TEST(BasicAutonomyTest, test_verify_yield)
  {
  auto node = std::make_shared<carma_ros2_utils::CarmaLifecycleNode>(rclcpp::NodeOptions());
@@ -893,7 +896,7 @@ TEST(BasicAutonomyTest, get_nearest_basic_point_index)
  ASSERT_FALSE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp2));
 
  }
-
+*/
 
 } // namespace basic_autonomy
 
@@ -911,4 +914,4 @@ int main(int argc, char ** argv)
  rclcpp::shutdown();
 
  return success;
-}
+}
diff --git a/carma_cooperative_perception/CMakeLists.txt b/carma_cooperative_perception/CMakeLists.txt
@@ -133,8 +133,10 @@ if(carma_cooperative_perception_BUILD_TESTS)
  )
 
  add_launch_test(test/track_list_to_external_object_list_launch_test.py)
- add_launch_test(test/multiple_object_tracker_duplicates_launch_test.py)
- add_launch_test(test/multiple_object_tracker_static_obstacle_launch_test.py)
+ # This test has been temporarily disabled to support Continuous Improvement (CI) processes.
+ # Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+ # add_launch_test(test/multiple_object_tracker_duplicates_launch_test.py)
+ # add_launch_test(test/multiple_object_tracker_static_obstacle_launch_test.py)
  add_launch_test(test/host_vehicle_filter_launch_test.py)
 
 endif()

diff --git a/carma_cooperative_perception/dependencies.cmake b/carma_cooperative_perception/dependencies.cmake
@@ -63,6 +63,12 @@ if(carma_cooperative_perception_BUILD_TESTS)
 
  list(APPEND AMENT_LINT_AUTO_EXCLUDE
  ament_cmake_uncrustify # Using clang-format instead
+ # This test has been temporarily disabled to support Continuous Improvement (CI) processes.
+ # Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+ ament_cmake_cppcheck
+ ament_cmake_cppcheck
+ ament_cmake_cpplint
+ ament_cmake_flake8
  )
 
  set(ament_cmake_clang_format_CONFIG_FILE ${PROJECT_SOURCE_DIR}/.clang-format)

diff --git a/carma_cooperative_perception/test/test_msg_conversion.cpp b/carma_cooperative_perception/test/test_msg_conversion.cpp
@@ -54,7 +54,10 @@ TEST(ToTimeMsg, NulloptSeconds)
  EXPECT_DOUBLE_EQ(actual_msg.sec, expected_msg.sec);
  EXPECT_DOUBLE_EQ(actual_msg.nanosec, expected_msg.nanosec);
 }
+// These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+// Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
 
+/**
 TEST(ToDetectionMsg, Simple)
 {
  carma_v2x_msgs::msg::SensorDataSharingMessage sdsm_msg;
@@ -122,7 +125,7 @@ TEST(ToDetectionMsg, Simple)
  EXPECT_EQ(detection.id, "BADDCAFE-1");
  EXPECT_EQ(detection.motion_model, detection.MOTION_MODEL_CTRV);
 }
-
+*/
 TEST(CalcDetectionTimeStamp, Simple)
 {
  carma_cooperative_perception::DDateTime d_date_time;
@@ -221,6 +224,10 @@ TEST(ToDetectionListMsg, FromExternalObjectList)
  EXPECT_EQ(std::size(detection_list.detections), 2U);
 }
 
+// These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+// Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+
+/*
 TEST(ToExternalObject, FromTrack)
 {
  carma_cooperative_perception_interfaces::msg::Track track;
@@ -263,7 +270,8 @@ TEST(ToExternalObject, FromTrack)
  EXPECT_EQ(external_object.pose, track.pose);
  EXPECT_EQ(external_object.velocity, track.twist);
 }
-
+*/
+/*
 TEST(ToExternalObject, FromTrackNonNumericId)
 {
  carma_cooperative_perception_interfaces::msg::Track track;
@@ -304,7 +312,8 @@ TEST(ToExternalObject, FromTrackNonNumericId)
  EXPECT_EQ(external_object.pose, track.pose);
  EXPECT_EQ(external_object.velocity, track.twist);
 }
-
+*/
+/*
 TEST(ToExternalObject, FromTrackNegativeId)
 {
  carma_cooperative_perception_interfaces::msg::Track track;
@@ -345,7 +354,8 @@ TEST(ToExternalObject, FromTrackNegativeId)
  EXPECT_EQ(external_object.pose, track.pose);
  EXPECT_EQ(external_object.velocity, track.twist);
 }
-
+*/
+/**
 TEST(ToExternalObject, FromTrackIdTooLarge)
 {
  carma_cooperative_perception_interfaces::msg::Track track;
@@ -386,7 +396,7 @@ TEST(ToExternalObject, FromTrackIdTooLarge)
  EXPECT_EQ(external_object.pose, track.pose);
  EXPECT_EQ(external_object.velocity, track.twist);
 }
-
+*/
 TEST(ToExternalObjectList, FromTrackList)
 {
  carma_cooperative_perception_interfaces::msg::TrackList track_list;

diff --git a/carma_guidance_plugins/test/node_test.cpp b/carma_guidance_plugins/test/node_test.cpp
@@ -27,7 +27,7 @@ bool has_publisher(std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> node, c
 {
  bool found = false;
  for (const auto& endpoint : node->get_publishers_info_by_topic(topic_name)) {
- 
+
  std::cerr << "name: " << endpoint.node_name() << " type: " << endpoint.topic_type() << std::endl;
 
  if (endpoint.node_name() == node->get_name() && endpoint.topic_type() == type)
@@ -41,7 +41,7 @@ bool has_subscriber(std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> node,
 {
  bool found = false;
  for (const auto& endpoint : node->get_subscriptions_info_by_topic(topic_name)) {
- 
+
  std::cerr << "name: " << endpoint.node_name() << " type: " << endpoint.topic_type() << std::endl;
 
  if (endpoint.node_name() == node->get_name() && endpoint.topic_type() == type)
@@ -55,7 +55,7 @@ bool has_service(std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> node, std
 {
  bool found = false;
  for (const auto& [service_k, type_v] : node->get_service_names_and_types_by_node(node->get_name(), "")) {
- 
+
  std::cerr << "service: " << service_k << " type: " << type_v[0] << std::endl;
 
  if ( service_k == service_name && type_v[0] == type)
@@ -68,6 +68,9 @@ bool has_service(std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> node, std
 namespace carma_guidance_plugins
 {
 
+// These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+// Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+/**
 TEST(carma_guidance_plugins_test, connections_test) {
 
 
@@ -143,7 +146,7 @@ TEST(carma_guidance_plugins_test, connections_test) {
  ASSERT_TRUE(has_subscriber(control_plugin, "TestControlPlugin/plan_trajectory", "carma_planning_msgs/msg/TrajectoryPlan"));
 
 }
-
+*/
 } // carma_guidance_plugins
 
 int main(int argc, char ** argv)
@@ -159,4 +162,4 @@ int main(int argc, char ** argv)
  rclcpp::shutdown();
 
  return success;
-} 
+}
diff --git a/carma_wm/test/CollisionDetectionTest.cpp b/carma_wm/test/CollisionDetectionTest.cpp
@@ -1,6 +1,6 @@
 /*
  * Copyright (C) 2022 LEIDOS.dev
- * 
+ *
  *
  * 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
@@ -150,7 +150,7 @@ namespace carma_wm
  collision_detection::MovingObject mo1 = {ob1, linear_velocity, future_polygons_tuple};
 
  __uint64_t target_time = 3;
- 
+
  collision_detection::MovingObject result = collision_detection::PredictObjectPosition(mo1,target_time);
 
  std::vector<collision_detection::point_t> points = result.object_polygon.outer();
@@ -259,14 +259,16 @@ namespace carma_wm
  ASSERT_TRUE(result);
 
  }
-
+ // These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+ // Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+ /**
  TEST(CollisionDetectionTest, WorldCollisionDetection)
  {
 
  carma_perception_msgs::msg::RoadwayObstacleList rwol;
  carma_planning_msgs::msg::TrajectoryPlan tp;
 
- 
+
  geometry_msgs::msg::Twist velocity;
 
  geometry_msgs::msg::Vector3 linear_velocity;
@@ -275,7 +277,7 @@ namespace carma_wm
 
  velocity.linear = linear_velocity;
 
- 
+
  geometry_msgs::msg::Vector3 size;
  size.x = 4;
  size.y = 2;
@@ -380,7 +382,7 @@ namespace carma_wm
  ASSERT_EQ(result.size(),1);
 
  }
-
+ */
  TEST(CollisionDetectionFalseTest, WorldCollisionDetection)
  {
 

diff --git a/carma_wm/test/GeometryTest.cpp b/carma_wm/test/GeometryTest.cpp
@@ -66,14 +66,14 @@ TEST(GeometryTest, computeCurvature)
 
 /*!
  * \brief Test utility function to generate a lanelet of fixed curvature
- * 
+ *
  * \param center_of_curvature The center of the circle that will generate the lanelet
  * \param radius_of_curvature The radius size of the circle that describes
  * \param arc_radians The number of radians to traverse the sweep of the circle
  * \param sample_count How many points to sample evenly spaced across the arc
  * \return A lanelet matching the input geometry description
  */
-std::vector<lanelet::Point3d> 
+std::vector<lanelet::Point3d>
 generate_const_curvature_linestring(
  lanelet::BasicPoint2d center_of_curvature,
  double radius_of_curvature,
@@ -85,19 +85,22 @@ generate_const_curvature_linestring(
 
  double x, y;
  for (int i = 0; i < sample_count; i++) {
- x = center_of_curvature[0] 
- + radius_of_curvature 
+ x = center_of_curvature[0]
+ + radius_of_curvature
  * std::cos(arc_radians / sample_count * i);
  y = center_of_curvature[1]
  + radius_of_curvature
  * std::sin(arc_radians / sample_count * i);
- 
+
  out.push_back(getPoint(x, y, 0.0));
  }
 
  return out;
 }
 
+// These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
+// Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
+/**
 TEST(Geometry, local_curvatures)
 {
  CARMAWorldModel cmw;
@@ -123,7 +126,7 @@ TEST(Geometry, local_curvatures)
  // Test single lanelet constant curvature
  lanelet::BasicPoint2d origin = getBasicPoint(0.0, 0.0);
  // Curve with centerline at radius 10, curvature 1/10
- std::vector<lanelet::Point3d> left_2 = generate_const_curvature_linestring(origin, 5, M_PI / 2.0, 20); 
+ std::vector<lanelet::Point3d> left_2 = generate_const_curvature_linestring(origin, 5, M_PI / 2.0, 20);
  std::vector<lanelet::Point3d> right_2 = generate_const_curvature_linestring(origin, 15, M_PI / 2.0, 20);
  auto ll_2 = getLanelet(left_2, right_2);
  std::vector<lanelet::ConstLanelet> lanelets2 = { lanelet::utils::toConst(ll_2) };
@@ -140,7 +143,7 @@ TEST(Geometry, local_curvatures)
 
  // Test single lanelet constant curvature 2
  // Curve with centerline at radius 20, curvature 1/20
- std::vector<lanelet::Point3d> left_3 = generate_const_curvature_linestring(origin, 10, M_PI / 2.0, 10); 
+ std::vector<lanelet::Point3d> left_3 = generate_const_curvature_linestring(origin, 10, M_PI / 2.0, 10);
  std::vector<lanelet::Point3d> right_3 = generate_const_curvature_linestring(origin, 30, M_PI / 2.0, 10);
  auto ll_3 = getLanelet(left_3, right_3);
  //lanelet::LineString3d center_ls3(lanelet::utils::getId(), center_3);
@@ -161,7 +164,7 @@ TEST(Geometry, local_curvatures)
 
  // Test single lanelet constant curvature 3
  // Curve with centerline at radius 1, curvature 1
- std::vector<lanelet::Point3d> left_4 = generate_const_curvature_linestring(origin, 0.5, M_PI / 2.0, 5); 
+ std::vector<lanelet::Point3d> left_4 = generate_const_curvature_linestring(origin, 0.5, M_PI / 2.0, 5);
  std::vector<lanelet::Point3d> right_4 = generate_const_curvature_linestring(origin, 1.5, M_PI / 2.0, 5);
  auto ll_4 = getLanelet(left_4, right_4);
 
@@ -200,7 +203,7 @@ TEST(Geometry, local_curvatures)
  std::vector<lanelet::ConstLanelet> lanelets_5 = { lanelet::utils::toConst(ll_empty) };
  ASSERT_THROW(geometry::local_curvatures(lanelets_5), std::invalid_argument);
 }
-
+*/
 TEST(GeometryTest, trackPos)
 {
 
@@ -636,7 +639,7 @@ TEST(GeometryTest, compute_tangent_orientations_straight)
  }
 
  std::vector<double> result;
- lanelet::BasicLineString2d centerline = carma_wm::geometry::concatenate_lanelets(lanelets_as_vec); 
+ lanelet::BasicLineString2d centerline = carma_wm::geometry::concatenate_lanelets(lanelets_as_vec);
  result = carma_wm::geometry::compute_tangent_orientations(centerline);
  ASSERT_EQ(9, result.size());
 
@@ -646,7 +649,7 @@ TEST(GeometryTest, compute_tangent_orientations_straight)
  }
 }
 
-TEST(GeometryTest, concatenate_line_string_dedupe) 
+TEST(GeometryTest, concatenate_line_string_dedupe)
 {
  auto p1 = Eigen::Vector2d(-1, 0);
  auto p2 = Eigen::Vector2d(-1, 1);