Merge pull request tier4#1319 from tier4/test/synchronized-action-kashiwanoha-map

fix: Change map of synchronized action's test

Author: hakuturu583

mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp

@@ -30,18 +30,17 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
   explicit SynchronizedAction(const rclcpp::NodeOptions & option)
   : cpp_mock_scenarios::CppScenarioNode(
       "synchronized_action",
-      ament_index_cpp::get_package_share_directory("simple_cross_map") + "/map", "lanelet2_map.osm",
+      ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm",
       __FILE__, false, option)
   {
     start();
   }
 
 private:
-  bool requested = false;
   const traffic_simulator::CanonicalizedLaneletPose ego_target =
-    traffic_simulator::helper::constructCanonicalizedLaneletPose(147, 0, 0, api_.getHdmapUtils());
+    traffic_simulator::helper::constructCanonicalizedLaneletPose(34585, 0, 0, api_.getHdmapUtils());
   const traffic_simulator::CanonicalizedLaneletPose npc_target =
-    traffic_simulator::helper::constructCanonicalizedLaneletPose(133, 0, 0, api_.getHdmapUtils());
+    traffic_simulator::helper::constructCanonicalizedLaneletPose(34570, 0, 0, api_.getHdmapUtils());
 
   void onUpdate() override
   {
@@ -54,7 +53,7 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
     }
 
     // FAILURES
-    if (api_.getCurrentTime() >= 9.0) {
+    if (api_.getCurrentTime() >= 30.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (api_.checkCollision("ego", "npc")) {
@@ -65,23 +64,25 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
   {
     api_.spawn(
       "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(7, 40, 0, api_.getHdmapUtils()),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(
+        34976, 20, 0, api_.getHdmapUtils()),
       getVehicleParameters());
     api_.setLinearVelocity("ego", 3);
     api_.requestSpeedChange("ego", 3, true);
 
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
-      154, 20, 0, api_.getHdmapUtils()));
+      34579, 20, 0, api_.getHdmapUtils()));
     api_.requestAssignRoute("ego", goal_poses);
 
     api_.spawn(
       "npc",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(14, 15, 0, api_.getHdmapUtils()),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(
+        34576, 0, 0, api_.getHdmapUtils()),
       getVehicleParameters());
     std::vector<geometry_msgs::msg::Pose> npc_goal_poses;
     npc_goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
-      140, 20, 0, api_.getHdmapUtils()));
+      34564, 20, 0, api_.getHdmapUtils()));
     api_.requestAssignRoute("npc", npc_goal_poses);
     api_.setLinearVelocity("npc", 6);
   }

mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp

@@ -30,18 +30,17 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
   explicit SynchronizedActionWithSpeed(const rclcpp::NodeOptions & option)
   : cpp_mock_scenarios::CppScenarioNode(
       "synchronized_action_with_speed",
-      ament_index_cpp::get_package_share_directory("simple_cross_map") + "/map", "lanelet2_map.osm",
+      ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm",
       __FILE__, false, option)
   {
     start();
   }
 
 private:
-  bool requested = false;
   const traffic_simulator::CanonicalizedLaneletPose ego_target =
-    traffic_simulator::helper::constructCanonicalizedLaneletPose(147, 0, 0, api_.getHdmapUtils());
+    traffic_simulator::helper::constructCanonicalizedLaneletPose(34585, 0, 0, api_.getHdmapUtils());
   const traffic_simulator::CanonicalizedLaneletPose npc_target =
-    traffic_simulator::helper::constructCanonicalizedLaneletPose(133, 0, 0, api_.getHdmapUtils());
+    traffic_simulator::helper::constructCanonicalizedLaneletPose(34570, 0, 0, api_.getHdmapUtils());
 
   void onUpdate() override
   {
@@ -54,7 +53,7 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
     }
 
     // FAILURES
-    if (api_.getCurrentTime() >= 9.0) {
+    if (api_.getCurrentTime() >= 30.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (api_.checkCollision("ego", "npc")) {
@@ -65,23 +64,25 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
   {
     api_.spawn(
       "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(7, 40, 0, api_.getHdmapUtils()),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(
+        34976, 20, 0, api_.getHdmapUtils()),
       getVehicleParameters());
     api_.setLinearVelocity("ego", 3);
     api_.requestSpeedChange("ego", 3, true);
 
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
-      154, 20, 0, api_.getHdmapUtils()));
+      34579, 20, 0, api_.getHdmapUtils()));
     api_.requestAssignRoute("ego", goal_poses);
 
     api_.spawn(
       "npc",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(14, 15, 0, api_.getHdmapUtils()),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(
+        34576, 0, 0, api_.getHdmapUtils()),
       getVehicleParameters());
     std::vector<geometry_msgs::msg::Pose> npc_goal_poses;
     npc_goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
-      140, 20, 0, api_.getHdmapUtils()));
+      34564, 20, 0, api_.getHdmapUtils()));
     api_.requestAssignRoute("npc", npc_goal_poses);
     api_.setLinearVelocity("npc", 6);
   }