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Add tests for the AMCL node #194

Merged
merged 5 commits into from
May 25, 2023
Merged

Add tests for the AMCL node #194

merged 5 commits into from
May 25, 2023

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nahueespinosa
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@nahueespinosa nahueespinosa commented May 21, 2023

Proposed changes

Related to #101, this adds tests for the AMCL node up to 95% line coverage. It also fixes a couple of issues with lifecycle management and removes the read_only property for parameters that can change at runtime.

Type of change

  • 馃悰 Bugfix (change which fixes an issue)
  • 馃殌 Feature (change which adds functionality)
  • 馃摎 Documentation (change which fixes or extends documentation)

Checklist

  • Lint and unit tests (if any) pass locally with my changes
  • I have added tests that prove my fix is effective or that my feature works
  • I have added necessary documentation (if appropriate)
  • All commmits have been signed for DCO

Additional comments

This is still work-in-progress.

@nahueespinosa nahueespinosa force-pushed the nahuel/test-amcl-node branch 5 times, most recently from f9d7161 to 2e2ff77 Compare May 22, 2023 17:27
@nahueespinosa nahueespinosa self-assigned this May 23, 2023
@nahueespinosa nahueespinosa added enhancement New feature or request cpp Related to C++ code labels May 23, 2023
@nahueespinosa nahueespinosa marked this pull request as ready for review May 23, 2023 23:10
@nahueespinosa nahueespinosa changed the title Add unit tests for AMCL node Add tests for the AMCL node May 24, 2023
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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@hidmic hidmic left a comment

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Overall LGTM for some unit testing complementing benchmarks. Nice work @nahueespinosa !

beluga_amcl/test/test_amcl_node.cpp Show resolved Hide resolved
beluga_amcl/test/test_amcl_node.cpp Outdated Show resolved Hide resolved
beluga_amcl/test/test_amcl_node.cpp Outdated Show resolved Hide resolved
beluga_amcl/test/test_amcl_node.cpp Outdated Show resolved Hide resolved
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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@hidmic Thanks for the review! The comments have been addressed.

@nahueespinosa nahueespinosa requested a review from hidmic May 24, 2023 21:22
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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LGTM

beluga_amcl/src/amcl_node.cpp Show resolved Hide resolved
beluga_amcl/test/test_amcl_node.cpp Outdated Show resolved Hide resolved
beluga_amcl/test/test_amcl_node.cpp Outdated Show resolved Hide resolved
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa nahueespinosa merged commit 6105bb0 into main May 25, 2023
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@nahueespinosa nahueespinosa deleted the nahuel/test-amcl-node branch May 25, 2023 18:06
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2 participants