Add unit tests for geojson map parsing functions (#144)

Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
Co-authored-by: Morgan Quigley <morgan@osrfoundation.org>

rmf_traffic_ros2/CMakeLists.txt

@@ -55,6 +55,10 @@ if(BUILD_TESTING)
     test_rmf_traffic_ros2 test/main.cpp ${unit_test_srcs}
     TIMEOUT 300)
 
+  target_compile_definitions(test_rmf_traffic_ros2
+    PRIVATE
+      "-DTEST_RESOURCES_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/test/resources/\"")
+
   target_link_libraries(test_rmf_traffic_ros2
       rmf_traffic_ros2
       yaml-cpp

rmf_traffic_ros2/src/rmf_traffic_ros2/convert_Graph.cpp

@@ -228,6 +228,16 @@ rmf_traffic::agv::Graph json_to_graph(
     double rounded_x = std::round(easting / wp_tolerance) * wp_tolerance;
     double rounded_y = std::round(northing / wp_tolerance) * wp_tolerance;
     idx_map[level_idx][rounded_x][rounded_y] = wp.index();
+
+    // Set waypoint properties
+    if (feature["properties"].contains("is_holding_point"))
+      wp.set_holding_point(feature["properties"]["is_holding_point"]);
+    if (feature["properties"].contains("is_passthrough_point"))
+      wp.set_passthrough_point(feature["properties"]["is_passthrough_point"]);
+    if (feature["properties"].contains("is_parking_spot"))
+      wp.set_parking_spot(feature["properties"]["is_parking_spot"]);
+    if (feature["properties"].contains("is_charger"))
+      wp.set_charger(feature["properties"]["is_charger"]);
   }
 
   // now spin through the features again, looking for lanes