add test

panel_detector_plugins/CMakeLists.txt

@@ -19,6 +19,16 @@ if(BUILD_TESTING)
   set(ament_cmake_copyright_FOUND TRUE)
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_gmock REQUIRED)
+
+  set(TEST_TARGETS
+    test_publish_center)
+  foreach(TARGET ${TEST_TARGETS})
+    ament_add_gtest(${TARGET} test/src/${TARGET}.cpp)
+    target_link_libraries(${TARGET} ${PROJECT_NAME} ${OpenCV_LIBRARIES})
+  endforeach()
 endif()
 
 pluginlib_export_plugin_description_file(panel_detector_base panel_detector_plugins.xml)

panel_detector_plugins/test/src/test_publish_center.cpp

@@ -0,0 +1,34 @@
+#include <gtest/gtest.h>
+#include <opencv2/opencv.hpp>
+#include <panel_detector_base/panel_detector_base.hpp>
+#include <panel_detector_param/panel_detector_param.hpp>
+#include <panel_detector_plugins/publish_center.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+class TestErrorMsgGenerator : public ::testing::Test
+{
+protected:
+  std::unique_ptr<panel_detector_plugins::PublishCenter> target_class_;
+  std::shared_ptr<panel_detector_parameters::ParamListener> param_listener_;
+
+  virtual void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+    auto node = std::make_shared<rclcpp::Node>("test_node");
+
+    this->target_class_ =
+      std::make_unique<panel_detector_plugins::PublishCenter>();
+
+    this->param_listener_ =
+      std::make_shared<panel_detector_parameters::ParamListener>(
+      node->get_node_parameters_interface());
+    this->target_class_->init(*this->param_listener_);
+  }
+};
+
+TEST_F(TestErrorMsgGenerator, test_default)
+{
+  auto result = this->target_class_->detect(cv::Mat(480, 640, CV_8UC3));
+  EXPECT_EQ(result.detections[0].bbox.center.position.x, 320);
+  EXPECT_EQ(result.detections[0].bbox.center.position.y, 240);
+}