Replace IMU messages with new dummy messages

libstatistics_collector/CMakeLists.txt

@@ -30,6 +30,13 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(libstatistics_collector_test_msgs
+  "test/msg/DummyMessage.msg"
+  DEPENDENCIES std_msgs
+)
 
 include_directories(include)
 
@@ -67,9 +74,12 @@ if(BUILD_TESTING)
   ament_add_gtest(test_received_message_age
     test/topic_statistics_collector/test_received_message_age.cpp)
   target_link_libraries(test_received_message_age ${PROJECT_NAME})
-  ament_target_dependencies(test_received_message_age rcl rcpputils std_msgs sensor_msgs)
+  ament_target_dependencies(test_received_message_age rcl rcpputils)
 endif()
 
+# To enable use of dummy_message.hpp in test_received_message_age
+rosidl_target_interfaces(test_received_message_age libstatistics_collector_test_msgs "rosidl_typesupport_cpp")
+
 install(
   TARGETS "${PROJECT_NAME}"
   EXPORT "${PROJECT_NAME}-targets"
@@ -82,7 +92,7 @@ install(
   DESTINATION include
 )
 
-ament_export_dependencies(rcl rcpputils)
+ament_export_dependencies(rcl rcpputils rosidl_default_runtime)
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 

libstatistics_collector/package.xml

@@ -12,11 +12,17 @@
   <depend>rcl</depend>
   <depend>rcpputils</depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>sensor_msgs</test_depend>
-  <test_depend>std_msgs</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
     <build_type>ament_cmake</build_type>

libstatistics_collector/test/msg/DummyMessage.msg

@@ -0,0 +1,4 @@
+# This is a dummy message type with a `Header` field.
+# It is intended for use in topic statistics tests.
+
+std_msgs/Header header

libstatistics_collector/test/topic_statistics_collector/test_received_message_age.cpp

@@ -18,19 +18,19 @@
 #include <chrono>
 #include <string>
 
+#include "libstatistics_collector/msg/dummy_message.hpp"
 #include "libstatistics_collector/topic_statistics_collector/constants.hpp"
 #include "libstatistics_collector/topic_statistics_collector/received_message_age.hpp"
 
 #include "rcl/time.h"
-#include "sensor_msgs/msg/imu.hpp"
-#include "std_msgs/msg/string.hpp"
 
 namespace
 {
-using ReceivedImuMessageAgeCollector = libstatistics_collector::
-  topic_statistics_collector::ReceivedMessageAgeCollector<sensor_msgs::msg::Imu>;
-using ReceivedStringMessageAgeCollector = libstatistics_collector::
-  topic_statistics_collector::ReceivedMessageAgeCollector<std_msgs::msg::String>;
+using DummyMessage = libstatistics_collector::msg::DummyMessage;
+using ReceivedDummyMessageAgeCollector = libstatistics_collector::
+  topic_statistics_collector::ReceivedMessageAgeCollector<DummyMessage>;
+using ReceivedIntMessageAgeCollector = libstatistics_collector::
+  topic_statistics_collector::ReceivedMessageAgeCollector<int>;
 
 constexpr const std::chrono::seconds kDefaultDurationSeconds{1};
 constexpr const double kExpectedAverageMilliseconds{2000.0};
@@ -40,97 +40,83 @@ constexpr const double kExpectedStandardDeviation{816.49658092772597};
 constexpr const int kDefaultTimesToTest{10};
 constexpr const int64_t kDefaultTimeMessageReceived{1000};
 constexpr const rcl_time_point_value_t kStartTime{123456789};
-
-sensor_msgs::msg::Imu GetImuMessageWithHeader(const int64_t seconds, const int64_t nanoseconds)
-{
-  auto message = sensor_msgs::msg::Imu{};
-  message.header = std_msgs::msg::Header{};
-  message.header.stamp.sec = seconds;
-  message.header.stamp.nanosec = nanoseconds;
-  return message;
-}
-
-std_msgs::msg::String GetStringMessageWithoutHeader()
-{
-  auto message = std_msgs::msg::String{};
-  message.data = "Any message with no header";
-  return message;
-}
+constexpr const int kRandomIntMessage{7};
 }  // namespace
 
 
 TEST(ReceivedMessageAgeTest, TestOnlyMessagesWithHeaderGetSampled) {
-  ReceivedStringMessageAgeCollector string_msg_collector{};
+  ReceivedIntMessageAgeCollector int_msg_collector{};
 
-  const auto string_msg = GetStringMessageWithoutHeader();
   libstatistics_collector::moving_average_statistics::StatisticData stats;
 
   for (int i = 0; i < kDefaultTimesToTest; ++i) {
-    string_msg_collector.OnMessageReceived(string_msg, kDefaultTimeMessageReceived);
-    stats = string_msg_collector.GetStatisticsResults();
+    int_msg_collector.OnMessageReceived(kRandomIntMessage, kDefaultTimeMessageReceived);
+    stats = int_msg_collector.GetStatisticsResults();
     EXPECT_EQ(0, stats.sample_count) << "Expect 0 samples to be collected";
   }
 
-  ReceivedImuMessageAgeCollector imu_msg_collector{};
-  const auto imu_msg = GetImuMessageWithHeader(1, 0);
-
+  ReceivedDummyMessageAgeCollector dummy_msg_collector{};
+  auto msg = DummyMessage{};
+  msg.header.stamp.sec = kDefaultTimeMessageReceived;
   for (int i = 0; i < kDefaultTimesToTest; ++i) {
-    imu_msg_collector.OnMessageReceived(imu_msg, kDefaultTimeMessageReceived);
-    stats = imu_msg_collector.GetStatisticsResults();
+    dummy_msg_collector.OnMessageReceived(msg, kDefaultTimeMessageReceived);
+    stats = dummy_msg_collector.GetStatisticsResults();
     EXPECT_EQ(i + 1, stats.sample_count) << "Expect " << i + 1 << " samples to be collected";
   }
 }
 
 TEST(ReceivedMessageAgeTest, TestMeasurementOnlyMadeForInitializedHeaderValue) {
-  ReceivedImuMessageAgeCollector imu_msg_collector{};
+  ReceivedDummyMessageAgeCollector dummy_msg_collector{};
 
   // Don't initialize `header.stamp`
-  const auto imu_msg_uninitialized_header = sensor_msgs::msg::Imu{};
-  imu_msg_collector.OnMessageReceived(imu_msg_uninitialized_header, kDefaultTimeMessageReceived);
-  auto stats = imu_msg_collector.GetStatisticsResults();
+  auto msg = DummyMessage{};
+
+  dummy_msg_collector.OnMessageReceived(msg, kDefaultTimeMessageReceived);
+  auto stats = dummy_msg_collector.GetStatisticsResults();
   EXPECT_EQ(0, stats.sample_count) << "Expect 0 samples to be collected";
 
   // Set `header.stamp` to 0
-  const auto imu_msg_zero_header = GetImuMessageWithHeader(0, 0);
-  imu_msg_collector.OnMessageReceived(imu_msg_zero_header, kDefaultTimeMessageReceived);
-  stats = imu_msg_collector.GetStatisticsResults();
+  msg.header.stamp.sec = 0;
+  dummy_msg_collector.OnMessageReceived(msg, kDefaultTimeMessageReceived);
+  stats = dummy_msg_collector.GetStatisticsResults();
   EXPECT_EQ(0, stats.sample_count) << "Expect 0 samples to be collected";
 
   // Set `header.stamp` to non-zero value
-  const auto imu_msg_positive_header = GetImuMessageWithHeader(1, 0);
-  imu_msg_collector.OnMessageReceived(imu_msg_positive_header, kDefaultTimeMessageReceived);
-  stats = imu_msg_collector.GetStatisticsResults();
+  msg.header.stamp.sec = kDefaultTimeMessageReceived;
+  dummy_msg_collector.OnMessageReceived(msg, kDefaultTimeMessageReceived);
+  stats = dummy_msg_collector.GetStatisticsResults();
   EXPECT_EQ(1, stats.sample_count) << "Expect 1 sample to be collected";
 }
 
 TEST(ReceivedMessageAgeTest, TestAgeMeasurement) {
-  ReceivedImuMessageAgeCollector test_collector{};
+  ReceivedDummyMessageAgeCollector test_collector{};
 
   EXPECT_FALSE(test_collector.IsStarted()) << "Expect to be not started after constructed";
 
   EXPECT_TRUE(test_collector.Start()) << "Expect Start() to be successful";
   EXPECT_TRUE(test_collector.IsStarted()) << "Expect to be started";
 
   rcl_time_point_value_t fake_now_nanos_{kStartTime};
-  const auto test_message = GetImuMessageWithHeader(0, fake_now_nanos_);
+  auto msg = DummyMessage{};
+  msg.header.stamp.nanosec = fake_now_nanos_;
   fake_now_nanos_ +=
     std::chrono::duration_cast<std::chrono::nanoseconds>(kDefaultDurationSeconds).count();
 
-  test_collector.OnMessageReceived(test_message, fake_now_nanos_);
+  test_collector.OnMessageReceived(msg, fake_now_nanos_);
   auto stats = test_collector.GetStatisticsResults();
   EXPECT_EQ(1, stats.sample_count);
 
   fake_now_nanos_ +=
     std::chrono::duration_cast<std::chrono::nanoseconds>(kDefaultDurationSeconds).count();
 
-  test_collector.OnMessageReceived(test_message, fake_now_nanos_);
+  test_collector.OnMessageReceived(msg, fake_now_nanos_);
   stats = test_collector.GetStatisticsResults();
   EXPECT_EQ(2, stats.sample_count);
 
   fake_now_nanos_ +=
     std::chrono::duration_cast<std::chrono::nanoseconds>(kDefaultDurationSeconds).count();
 
-  test_collector.OnMessageReceived(test_message, fake_now_nanos_);
+  test_collector.OnMessageReceived(msg, fake_now_nanos_);
   stats = test_collector.GetStatisticsResults();
   EXPECT_EQ(3, stats.sample_count);
 
@@ -141,7 +127,7 @@ TEST(ReceivedMessageAgeTest, TestAgeMeasurement) {
 }
 
 TEST(ReceivedMessageAgeTest, TestGetStatNameAndUnit) {
-  ReceivedImuMessageAgeCollector test_collector{};
+  ReceivedDummyMessageAgeCollector test_collector{};
 
   EXPECT_FALSE(test_collector.GetMetricName().empty());
   EXPECT_FALSE(test_collector.GetMetricUnit().empty());

system_metrics_collector/CMakeLists.txt

@@ -37,12 +37,18 @@ find_package(rclcpp_components REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
-find_package(sensor_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
+rosidl_generate_interfaces(system_metrics_collector_test_msgs
+  "test/msg/DummyMessage.msg"
+  DEPENDENCIES std_msgs
+  LIBRARY_NAME ${PROJECT_NAME}
+)
+
 include_directories(src)
 
-add_library(system_metrics_collector SHARED
+add_library(${PROJECT_NAME} SHARED
   src/system_metrics_collector/metrics_message_publisher.cpp
   src/system_metrics_collector/linux_cpu_measurement_node.cpp
   src/system_metrics_collector/linux_memory_measurement_node.cpp
@@ -53,7 +59,7 @@ add_library(system_metrics_collector SHARED
   src/system_metrics_collector/proc_pid_cpu_data.cpp
   src/system_metrics_collector/utilities.cpp
 )
-ament_target_dependencies(system_metrics_collector
+ament_target_dependencies(${PROJECT_NAME}
         message_filters
         metrics_statistics_msgs
         rcl
@@ -63,22 +69,22 @@ ament_target_dependencies(system_metrics_collector
         rcpputils
         rcutils
         libstatistics_collector)
-rclcpp_components_register_nodes(system_metrics_collector
+rclcpp_components_register_nodes(${PROJECT_NAME}
   system_metrics_collector::LinuxProcessCpuMeasurementNode)
-rclcpp_components_register_nodes(system_metrics_collector
+rclcpp_components_register_nodes(${PROJECT_NAME}
   system_metrics_collector::LinuxProcessMemoryMeasurementNode)
 ament_export_libraries(system_metrics_collector)
 
 add_executable(example_main src/system_metrics_collector/example_main.cpp)
-target_link_libraries(example_main system_metrics_collector)
+target_link_libraries(example_main ${PROJECT_NAME})
 ament_target_dependencies(example_main)
 
 add_executable(linux_cpu_collector src/system_metrics_collector/linux_cpu_collector.cpp)
-target_link_libraries(linux_cpu_collector system_metrics_collector)
+target_link_libraries(linux_cpu_collector ${PROJECT_NAME})
 ament_target_dependencies(linux_cpu_collector)
 
 add_executable(linux_memory_collector src/system_metrics_collector/linux_memory_collector.cpp)
-target_link_libraries(linux_memory_collector system_metrics_collector)
+target_link_libraries(linux_memory_collector ${PROJECT_NAME})
 ament_target_dependencies(linux_memory_collector)
 
 if(BUILD_TESTING)
@@ -91,32 +97,32 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_metrics_message_publisher
     test/system_metrics_collector/test_metrics_message_publisher.cpp)
-  target_link_libraries(test_metrics_message_publisher system_metrics_collector)
+  target_link_libraries(test_metrics_message_publisher ${PROJECT_NAME})
   ament_target_dependencies(test_metrics_message_publisher metrics_statistics_msgs rclcpp)
 
   ament_add_gtest(test_linux_cpu_measurement_node
           test/system_metrics_collector/test_linux_cpu_measurement.cpp)
-  target_link_libraries(test_linux_cpu_measurement_node system_metrics_collector)
+  target_link_libraries(test_linux_cpu_measurement_node ${PROJECT_NAME})
   ament_target_dependencies(test_linux_cpu_measurement_node metrics_statistics_msgs rclcpp)
 
   ament_add_gtest(test_linux_memory_measurement_node
           test/system_metrics_collector/test_linux_memory_measurement.cpp)
-  target_link_libraries(test_linux_memory_measurement_node system_metrics_collector)
+  target_link_libraries(test_linux_memory_measurement_node ${PROJECT_NAME})
   ament_target_dependencies(test_linux_memory_measurement_node lifecycle_msgs metrics_statistics_msgs rclcpp)
 
   ament_add_gtest(test_linux_process_cpu_measurement_node
           test/system_metrics_collector/test_linux_process_cpu_measurement_node.cpp)
-  target_link_libraries(test_linux_process_cpu_measurement_node system_metrics_collector)
+  target_link_libraries(test_linux_process_cpu_measurement_node ${PROJECT_NAME})
   ament_target_dependencies(test_linux_process_cpu_measurement_node lifecycle_msgs metrics_statistics_msgs rclcpp)
 
   ament_add_gtest(test_linux_process_memory_measurement_node
           test/system_metrics_collector/test_linux_process_memory_measurement_node.cpp)
-  target_link_libraries(test_linux_process_memory_measurement_node system_metrics_collector)
+  target_link_libraries(test_linux_process_memory_measurement_node ${PROJECT_NAME})
   ament_target_dependencies(test_linux_process_memory_measurement_node lifecycle_msgs metrics_statistics_msgs rclcpp)
 
   ament_add_gtest(test_periodic_measurement_node
     test/system_metrics_collector/test_periodic_measurement_node.cpp)
-  target_link_libraries(test_periodic_measurement_node system_metrics_collector)
+  target_link_libraries(test_periodic_measurement_node ${PROJECT_NAME})
   ament_target_dependencies(test_periodic_measurement_node lifecycle_msgs metrics_statistics_msgs rclcpp)
 
   ament_add_gtest(test_composition
@@ -125,15 +131,18 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_utilities
           test/system_metrics_collector/test_utilities.cpp)
-  target_link_libraries(test_utilities system_metrics_collector)
+  target_link_libraries(test_utilities ${PROJECT_NAME})
   ament_target_dependencies(test_utilities rclcpp)
 
   ament_add_gtest(test_subscriber_topic_statistics
           test/topic_statistics_collector/test_subscriber_topic_statistics.cpp)
-  target_link_libraries(test_subscriber_topic_statistics system_metrics_collector)
-  ament_target_dependencies(test_subscriber_topic_statistics rcl rclcpp sensor_msgs)
+  target_link_libraries(test_subscriber_topic_statistics ${PROJECT_NAME})
+  ament_target_dependencies(test_subscriber_topic_statistics rcl rclcpp)
 endif()
 
+# To enable use of dummy_message.hpp in test_subscriber_topic_statistics
+rosidl_target_interfaces(test_subscriber_topic_statistics system_metrics_collector_test_msgs "rosidl_typesupport_cpp")
+
 # Install launch files
 install(DIRECTORY
   share/${PROJECT_NAME}/
@@ -165,6 +174,7 @@ install(TARGETS
   lib
 )
 
+ament_export_dependencies(rosidl_default_runtime)
 ament_export_libraries(${PROJECT_NAME})
 
 ament_package()

system_metrics_collector/package.xml

@@ -19,6 +19,9 @@
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>std_msgs</build_depend>
+
   <!--Required for example launch file-->
   <exec_depend>demo_nodes_cpp</exec_depend>
 
@@ -27,7 +30,8 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>class_loader</test_depend>
   <test_depend>lifecycle_msgs</test_depend>
-  <test_depend>sensor_msgs</test_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
   <!--Required for e2e test file-->
   <test_depend>python3-retrying</test_depend>
@@ -36,6 +40,8 @@
   <test_depend>ros2lifecycle</test_depend>
   <test_depend>ros2topic</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

system_metrics_collector/test/msg/DummyMessage.msg

@@ -0,0 +1,4 @@
+# This is a dummy message type with a `Header` field.
+# It is intended for use in topic statistics tests.
+
+std_msgs/Header header