refactor(behavior_velocity_planner): independent of plugin packages #9760
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Signed-off-by: Takayuki Murooka <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9760 +/- ##
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Coverage 29.72% 29.72%
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Files 1451 1461 +10
Lines 108839 108938 +99
Branches 42741 42775 +34
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+ Hits 32348 32381 +33
- Misses 73313 73377 +64
- Partials 3178 3180 +2
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soblin,
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satoshi-ota,
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TomohitoAndo and
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soblin
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Dec 26, 2024
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Description
Currently, due to the node test, the behavior_velocity_planner depends on the plugin packages, which is unexpected because we introduced the ROS2's pluginlib so that the node will node depend on the plugin packages.
Referring to the the structure of the behavior_path_planner's node test, this PR changed the structure of the behavior_velocity_planner's node test.
https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp
The node test in the plugin packages will be added by the succeeding PRs.
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.