fix(velocity_smoother): missing unit tests for resampling and invalid subscribed input topic by ralwing · Pull Request #562 · autowarefoundation/autoware_core

ralwing · 2025-07-02T10:14:15Z

Description

A few error has been reported regarding the backwards driving in autoware. We'd like to contribute by fixing them.

Firstly to allow proceeding on these errors we need to fix and add some unit tests to confirm that the changes doesn't brake any other functionallties.

This PR fixes

the invalid topic monitored in node
missing resample unit tests

How was this PR tested?

(ADDED by @sasakisasaki) Unit tests passed in CI

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2025-07-02T10:14:27Z

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Copilot

Pull Request Overview

This PR fixes an incorrect topic in the smoother node interface tests and adds comprehensive unit tests for trajectory resampling to prevent regressions.

Updated test topic strings from output/trajectory to input/trajectory
Introduced test_resample.cpp with extensive resampling scenarios
Ensures new tests cover velocity smoother functionality without breaking existing behavior

Reviewed Changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.

File	Description
planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp	Corrected the input trajectory topic name
planning/autoware_velocity_smoother/test/test_resample.cpp	Added new unit tests for trajectory resampling

Comments suppressed due to low confidence (1)

planning/autoware_velocity_smoother/test/test_resample.cpp:126

Add a test case for backward (negative) velocities to verify that the resampler correctly handles reverse driving scenarios, since the PR aims to address backwards driving errors.

class TrajectoryResampleTest : public ::testing::Test

ralwing · 2025-07-02T10:34:32Z


  publishMandatoryTopics(test_manager, test_target_node);

-  const std::string input_trajectory_topic = "velocity_smoother/output/trajectory";


here is the fix, the input topic published to the output

codecov · 2025-07-06T08:23:16Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 48.86%. Comparing base (6dd42d4) to head (aa298b4).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #562      +/-   ##
==========================================
- Coverage   49.60%   48.86%   -0.75%     
==========================================
  Files         338      338              
  Lines       21271    23726    +2455     
  Branches     9694    10850    +1156     
==========================================
+ Hits        10552    11594    +1042     
- Misses       9743    11031    +1288     
- Partials      976     1101     +125

Flag	Coverage Δ		*Carryforward flag
differential	`33.40% <ø> (?)`
total	`49.62% <ø> (+0.02%)`	⬆️	Carriedforward from a70136d

*This pull request uses carry forward flags. Click here to find out more.

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stale · 2025-09-05T02:07:00Z

This pull request has been automatically marked as stale because it has not had recent activity.

ralwing · 2025-09-29T12:18:01Z

@sasakisasaki friendly ping

sasakisasaki · 2025-09-30T06:19:08Z

@ralwing Sorry for being late to reply, let me do review soon (within a few hours) 🙏

sasakisasaki

Thank you very much for providing the tests. Nice PR 👍 Not only the code, and also the enriched comments with ASCII diagrams are super helpful for understanding.

First of all, let me put a quick comment from my side. Please feel free to let me know if there is any my misunderstanding and so on.

sasakisasaki · 2025-09-30T06:48:47Z

+  const double ds = std::max(
+    current_velocity * resample_param_.dense_resample_dt,
+    resample_param_.dense_min_interval_distance);
+  const int expected_min_points = static_cast<int>(input.back().pose.position.x / ds);


(Note for myself) ds would be > 0.5 as this line: resample_param_.dense_min_interval_distance = 0.5;

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

Copilot

Pull Request Overview

Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.

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Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

Copilot

Pull Request Overview

Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

ralwing · 2025-10-09T05:46:31Z

@sasakisasaki Could I kindly ask you to spare some time to review this PR? I believe it is now ready to be merged. I think it's good to go.

sasakisasaki

Looks fine! I agree with merging this PR while I put a minor comment 👍

sasakisasaki · 2025-10-09T09:50:32Z

@autowarefoundation/autoware-core-global-codeowners Review request 😉

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

ralwing · 2025-11-17T09:09:44Z

@go-sakayori kindly ping :-)

Copilot AI review requested due to automatic review settings July 2, 2025 10:14

ralwing requested review from a team, TakaHoribe, go-sakayori, mkuri, rej55 and satoshi-ota as code owners July 2, 2025 10:14

Copilot AI reviewed Jul 2, 2025

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Comment thread planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp Outdated

Comment thread planning/autoware_velocity_smoother/test/test_resample.cpp Outdated

ralwing changed the title ~~Test-velocity-smoother~~ fix(velocity_smoother): missing unit tests for resampling and invalid subscribed input topic Jul 2, 2025

ralwing force-pushed the test-velocity-smoother branch 2 times, most recently from 69244d5 to 22e4111 Compare July 2, 2025 10:38

ralwing commented Jul 2, 2025

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ralwing force-pushed the test-velocity-smoother branch from 2942908 to c122748 Compare July 4, 2025 10:57

sasakisasaki added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 6, 2025

stale Bot added the status:stale Inactive or outdated issues. (auto-assigned) label Sep 5, 2025

stale Bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Sep 29, 2025

sasakisasaki reviewed Sep 30, 2025

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ralwing added a commit to ralwing/autoware.core that referenced this pull request Oct 6, 2025

autowarefoundation#562 PR remarks

9d5a66d

ralwing force-pushed the test-velocity-smoother branch from 7419cc5 to 9d5a66d Compare October 6, 2025 08:38

ralwing added a commit to ralwing/autoware.core that referenced this pull request Oct 6, 2025

autowarefoundation#562 PR remarks

bff625d

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

ralwing force-pushed the test-velocity-smoother branch from cdca5b3 to bff625d Compare October 6, 2025 08:42

ralwing requested a review from Copilot October 6, 2025 09:09

Copilot AI reviewed Oct 6, 2025

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Comment thread planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp

Comment thread planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp

ralwing added 2 commits October 6, 2025 11:12

fix(velocity_smoother): correct input trajectory topic in tests

7946a10

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

fix(velocity_smoother): add missing resample unit tests

8e419a4

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

pre-commit-ci Bot and others added 4 commits October 6, 2025 11:12

style(pre-commit): autofix

2b39398

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

build test_resample.cpp

5378d64

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

autowarefoundation#562 PR remarks

0e6405c

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

style(pre-commit): autofix

fc436af

ralwing force-pushed the test-velocity-smoother branch from 63b4afc to fc436af Compare October 6, 2025 09:12

ralwing requested a review from Copilot October 6, 2025 09:20

Copilot AI reviewed Oct 6, 2025

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Comment thread planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp

Comment thread planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp

Merge branch 'main' into test-velocity-smoother

00846e9

sasakisasaki approved these changes Oct 9, 2025

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Comment thread planning/autoware_velocity_smoother/test/test_resample.cpp

go-sakayori reviewed Oct 9, 2025

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Comment thread planning/autoware_velocity_smoother/test/test_resample.cpp

go-sakayori reviewed Oct 9, 2025

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Comment thread planning/autoware_velocity_smoother/test/test_resample.cpp Outdated

Comment thread planning/autoware_velocity_smoother/test/test_resample.cpp Outdated

use current utils geometry namespace

df53663

Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>

go-sakayori approved these changes Oct 21, 2025

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Merge branch 'main' into test-velocity-smoother

aa298b4

go-sakayori enabled auto-merge (squash) November 17, 2025 09:12

go-sakayori merged commit 23c9806 into autowarefoundation:main Nov 17, 2025
27 checks passed


		publishMandatoryTopics(test_manager, test_target_node);

		const std::string input_trajectory_topic = "velocity_smoother/output/trajectory";

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