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fix(vehicle_cmd_gate): colcon test failure due to heavy process #7678

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Jun 25, 2024
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fix(vehicle_cmd_gate): colcon test failure due to heavy process #7678

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15 changes: 13 additions & 2 deletions control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -294,7 +294,12 @@ class PubSubNode : public rclcpp::Node
const auto max_lat_acc_lim = *std::max_element(lat_acc_lim.begin(), lat_acc_lim.end());
const auto max_lat_jerk_lim = *std::max_element(lat_jerk_lim.begin(), lat_jerk_lim.end());

// This test is designed to verify that the filter is applied correctly. However, if topic
// communication is delayed, the allowable range of change in the command values between the
// sender and receiver of the topic will vary, making the results dependent on processing time.
// We define the allowable error margin to account for this.
constexpr auto threshold_scale = 1.1;

// Output command must be smaller than maximum limit.
// TODO(Horibe): check for each velocity range.
if (std::abs(lon_vel) > 0.01) {
Expand Down Expand Up @@ -433,7 +438,7 @@ TEST_P(TestFixture, CheckFilterForSinCmd)
// << cmd_generator_.p_.steering.freq << " * dt + " << cmd_generator_.p_.steering.bias
// << ")" << std::endl;

for (size_t i = 0; i < 100; ++i) {
for (size_t i = 0; i < 30; ++i) {
auto start_time = std::chrono::steady_clock::now();

const bool reset_clock = (i == 0);
Expand All @@ -449,7 +454,13 @@ TEST_P(TestFixture, CheckFilterForSinCmd)
std::chrono::milliseconds elapsed =
std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);

std::chrono::milliseconds sleep_duration = std::chrono::milliseconds{10} - elapsed;
// The value determines the period of the topic. The filter logic of vehicle_cmd_gate depends on
// real-time, and if the time from publishing to subscribing becomes too long, this test will
// fail (the test specification itself should be improved). To prevent processing bottlenecks,
// please set this value appropriately. It is set to 30ms because it occasionally fails at 10ms.
constexpr int running_ms = 30;

std::chrono::milliseconds sleep_duration = std::chrono::milliseconds{running_ms} - elapsed;
if (sleep_duration.count() > 0) {
std::this_thread::sleep_for(sleep_duration);
}
Expand Down
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