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Fix cppcheck errors #1718

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Merged
SteveMacenski merged 5 commits into from
May 11, 2020
Merged

Fix cppcheck errors #1718

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f2d65c4
Fix cppcheck errors
naiveHobo May 11, 2020
a49e389
Fix test name generator
naiveHobo May 11, 2020
d79cbdc
Fix returning after it is deallocated / released error
naiveHobo May 11, 2020
1a830c7
Increase sleep to 10 seconds to allow map server node to start up
naiveHobo May 11, 2020
8ce6169
Fix infinite wait for service in nav2_map_server tests
naiveHobo May 11, 2020
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17 changes: 10 additions & 7 deletions nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,28 +77,30 @@ unsigned int countValues(
return count;
}

nav2_costmap_2d::StaticLayer * addStaticLayer(
std::shared_ptr<nav2_costmap_2d::StaticLayer> addStaticLayer(
nav2_costmap_2d::LayeredCostmap & layers,
tf2_ros::Buffer & tf, nav2_util::LifecycleNode::SharedPtr node)
{
nav2_costmap_2d::StaticLayer * slayer = new nav2_costmap_2d::StaticLayer();
std::shared_ptr<nav2_costmap_2d::StaticLayer> slayer =
std::make_shared<nav2_costmap_2d::StaticLayer>();
layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(slayer));
slayer->initialize(&layers, "static", &tf, node, nullptr, nullptr /*TODO*/);
return slayer;
}

nav2_costmap_2d::ObstacleLayer * addObstacleLayer(
std::shared_ptr<nav2_costmap_2d::ObstacleLayer> addObstacleLayer(
nav2_costmap_2d::LayeredCostmap & layers,
tf2_ros::Buffer & tf, nav2_util::LifecycleNode::SharedPtr node)
{
nav2_costmap_2d::ObstacleLayer * olayer = new nav2_costmap_2d::ObstacleLayer();
std::shared_ptr<nav2_costmap_2d::ObstacleLayer> olayer =
std::make_shared<nav2_costmap_2d::ObstacleLayer>();
olayer->initialize(&layers, "obstacles", &tf, node, nullptr, nullptr /*TODO*/);
layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(olayer));
return olayer;
}

void addObservation(
nav2_costmap_2d::ObstacleLayer * olayer, double x, double y, double z = 0.0,
std::shared_ptr<nav2_costmap_2d::ObstacleLayer> & olayer, double x, double y, double z = 0.0,
double ox = 0.0, double oy = 0.0, double oz = MAX_Z)
{
sensor_msgs::msg::PointCloud2 cloud;
Expand All @@ -122,11 +124,12 @@ void addObservation(
olayer->addStaticObservation(obs, true, true);
}

nav2_costmap_2d::InflationLayer * addInflationLayer(
std::shared_ptr<nav2_costmap_2d::InflationLayer> addInflationLayer(
nav2_costmap_2d::LayeredCostmap & layers,
tf2_ros::Buffer & tf, nav2_util::LifecycleNode::SharedPtr node)
{
nav2_costmap_2d::InflationLayer * ilayer = new nav2_costmap_2d::InflationLayer();
std::shared_ptr<nav2_costmap_2d::InflationLayer> ilayer =
std::make_shared<nav2_costmap_2d::InflationLayer>();
ilayer->initialize(&layers, "inflation", &tf, node, nullptr, nullptr /*TODO*/);
std::shared_ptr<nav2_costmap_2d::Layer> ipointer(ilayer);
layers.addPlugin(ipointer);
Expand Down
26 changes: 13 additions & 13 deletions nav2_costmap_2d/test/integration/inflation_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,12 +72,12 @@ class TestNode : public ::testing::Test
void validatePointInflation(
unsigned int mx, unsigned int my,
nav2_costmap_2d::Costmap2D * costmap,
nav2_costmap_2d::InflationLayer * ilayer,
std::shared_ptr<nav2_costmap_2d::InflationLayer> & ilayer,
double inflation_radius);

void initNode(double inflation_radius);

void waitForMap(nav2_costmap_2d::StaticLayer * slayer);
void waitForMap(std::shared_ptr<nav2_costmap_2d::StaticLayer> & slayer);

protected:
nav2_util::LifecycleNode::SharedPtr node_;
Expand Down Expand Up @@ -106,7 +106,7 @@ std::vector<Point> TestNode::setRadii(
return polygon;
}

void TestNode::waitForMap(nav2_costmap_2d::StaticLayer * slayer)
void TestNode::waitForMap(std::shared_ptr<nav2_costmap_2d::StaticLayer> & slayer)
{
while (!slayer->isCurrent()) {
rclcpp::spin_some(node_->get_node_base_interface());
Expand All @@ -117,7 +117,7 @@ void TestNode::waitForMap(nav2_costmap_2d::StaticLayer * slayer)
void TestNode::validatePointInflation(
unsigned int mx, unsigned int my,
nav2_costmap_2d::Costmap2D * costmap,
nav2_costmap_2d::InflationLayer * ilayer,
std::shared_ptr<nav2_costmap_2d::InflationLayer> & ilayer,
double inflation_radius)
{
bool * seen = new bool[costmap->getSizeInCellsX() * costmap->getSizeInCellsY()];
Expand Down Expand Up @@ -206,7 +206,7 @@ TEST_F(TestNode, testAdjacentToObstacleCanStillMove)
// circumscribed radius = 3.1
std::vector<Point> polygon = setRadii(layers, 2.1, 2.3);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

Expand Down Expand Up @@ -234,7 +234,7 @@ TEST_F(TestNode, testInflationShouldNotCreateUnknowns)
// circumscribed radius = 3.1
std::vector<Point> polygon = setRadii(layers, 2.1, 2.3);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

Expand All @@ -260,8 +260,8 @@ TEST_F(TestNode, testCostFunctionCorrectness)
// circumscribed radius = 8.0
std::vector<Point> polygon = setRadii(layers, 5.0, 6.25);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
nav2_costmap_2d::InflationLayer * ilayer = addInflationLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
auto ilayer = addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

addObservation(olayer, 50, 50, MAX_Z);
Expand Down Expand Up @@ -331,8 +331,8 @@ TEST_F(TestNode, testInflationOrderCorrectness)
// circumscribed radius = 3.1
std::vector<Point> polygon = setRadii(layers, 2.1, 2.3);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
nav2_costmap_2d::InflationLayer * ilayer = addInflationLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
auto ilayer = addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

// Add two diagonal cells, they would induce problems under the
Expand Down Expand Up @@ -360,7 +360,7 @@ TEST_F(TestNode, testInflation)
std::vector<Point> polygon = setRadii(layers, 1, 1);

auto slayer = addStaticLayer(layers, tf, node_);
nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

Expand Down Expand Up @@ -433,7 +433,7 @@ TEST_F(TestNode, testInflation2)
std::vector<Point> polygon = setRadii(layers, 1, 1);

auto slayer = addStaticLayer(layers, tf, node_);
nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

Expand Down Expand Up @@ -464,7 +464,7 @@ TEST_F(TestNode, testInflation3)
// 1 2 3
std::vector<Point> polygon = setRadii(layers, 1, 1.75);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);
addInflationLayer(layers, tf, node_);
layers.setFootprint(polygon);

Expand Down
12 changes: 6 additions & 6 deletions nav2_costmap_2d/test/integration/obstacle_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ TEST_F(TestNode, testRaytracing) {

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
addStaticLayer(layers, tf, node_);
nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

// Add a point at 0, 0, 0
addObservation(olayer, 0.0, 0.0, MAX_Z / 2, 0, 0, MAX_Z / 2);
Expand All @@ -179,7 +179,7 @@ TEST_F(TestNode, testRaytracing2) {
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
addStaticLayer(layers, tf, node_);
nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

// If we print map now, it is 10x10 all value 0
// printMap(*(layers.getCostmap()));
Expand Down Expand Up @@ -236,7 +236,7 @@ TEST_F(TestNode, testWaveInterference) {
// Start with an empty map, no rolling window, tracking unknown
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
layers.resizeMap(10, 10, 1, 0, 0);
nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

// If we print map now, it is 10x10, all cells are 255 (NO_INFORMATION)
// printMap(*(layers.getCostmap()));
Expand Down Expand Up @@ -265,7 +265,7 @@ TEST_F(TestNode, testZThreshold) {
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
layers.resizeMap(10, 10, 1, 0, 0);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

// A point cloud with 2 points falling in a cell with a non-lethal cost
addObservation(olayer, 0.0, 5.0, 0.4);
Expand All @@ -285,7 +285,7 @@ TEST_F(TestNode, testDynamicObstacles) {
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
addStaticLayer(layers, tf, node_);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

// Add a point cloud and verify its insertion. There should be only one new one
addObservation(olayer, 0.0, 0.0);
Expand All @@ -310,7 +310,7 @@ TEST_F(TestNode, testMultipleAdditions) {
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
addStaticLayer(layers, tf, node_);

nav2_costmap_2d::ObstacleLayer * olayer = addObstacleLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

// A point cloud with one point that falls within an existing obstacle
addObservation(olayer, 9.5, 0.0);
Expand Down
3 changes: 2 additions & 1 deletion nav2_system_tests/src/recoveries/spin/test_spin_recovery_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,8 @@ INSTANTIATE_TEST_CASE_P(
std::make_tuple(M_PIf32, 0.1),
std::make_tuple(3.0 * M_PIf32 / 2.0, 0.15),
std::make_tuple(-2.0 * M_PIf32, 0.1),
std::make_tuple(4.0 * M_PIf32, 0.15)), );
std::make_tuple(4.0 * M_PIf32, 0.15)),
testing::PrintToStringParamName());

int main(int argc, char ** argv)
{
Expand Down
3 changes: 2 additions & 1 deletion nav2_system_tests/src/recoveries/wait/test_wait_recovery_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,8 @@ INSTANTIATE_TEST_CASE_P(
::testing::Values(
std::make_tuple(1.0, 0.0),
std::make_tuple(2.0, 0.0),
std::make_tuple(5.0, 0.0)), );
std::make_tuple(5.0, 0.0)),
testing::PrintToStringParamName());

int main(int argc, char ** argv)
{
Expand Down