From 153f4657cb0b916da80aaf1969af4c78edec8651 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Tue, 27 Jun 2023 14:27:29 -0700
Subject: [PATCH 1/2] Fix smoother server tests

---
 nav2_smoother/test/test_smoother_server.cpp | 42 ++++++++++-----------
 1 file changed, 20 insertions(+), 22 deletions(-)

diff --git a/nav2_smoother/test/test_smoother_server.cpp b/nav2_smoother/test/test_smoother_server.cpp
index f14934af06..a84b1cdc32 100644
--- a/nav2_smoother/test/test_smoother_server.cpp
+++ b/nav2_smoother/test/test_smoother_server.cpp
@@ -158,8 +158,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber
   DummyFootprintSubscriber(
     nav2_util::LifecycleNode::SharedPtr node,
     const std::string & topic_name,
-    tf2_ros::Buffer & tf)
-  : FootprintSubscriber(node, topic_name, tf)
+    tf2_ros::Buffer & tf_)
+  : FootprintSubscriber(node, topic_name, tf_)
   {
     auto footprint = std::make_shared<geometry_msgs::msg::PolygonStamped>();
     footprint->header.frame_id = "base_link";  // global frame = robot frame to avoid tf lookup
@@ -223,21 +223,16 @@ class DummySmootherServer : public nav2_smoother::SmootherServer
 };
 
 // Define a test class to hold the context for the tests
-
-class SmootherConfigTest : public ::testing::Test
-{
-};
-
 class SmootherTest : public ::testing::Test
 {
-protected:
-  SmootherTest() {SetUp();}
+public:
+  SmootherTest() {}
   ~SmootherTest() {}
 
-  void SetUp()
+  void SetUp() override
   {
-    node_lifecycle_ =
-      std::make_shared<rclcpp_lifecycle::LifecycleNode>(
+    node_ =
+      std::make_shared<rclcpp::Node>(
       "LifecycleSmootherTestNode", rclcpp::NodeOptions());
 
     smoother_server_ = std::make_shared<DummySmootherServer>();
@@ -252,10 +247,10 @@ class SmootherTest : public ::testing::Test
     smoother_server_->activate();
 
     client_ = rclcpp_action::create_client<SmoothAction>(
-      node_lifecycle_->get_node_base_interface(),
-      node_lifecycle_->get_node_graph_interface(),
-      node_lifecycle_->get_node_logging_interface(),
-      node_lifecycle_->get_node_waitables_interface(), "smooth_path");
+      node_->get_node_base_interface(),
+      node_->get_node_graph_interface(),
+      node_->get_node_logging_interface(),
+      node_->get_node_waitables_interface(), "smooth_path");
     std::cout << "Setup complete." << std::endl;
   }
 
@@ -264,6 +259,9 @@ class SmootherTest : public ::testing::Test
     smoother_server_->deactivate();
     smoother_server_->cleanup();
     smoother_server_->shutdown();
+    smoother_server_.reset();
+    client_.reset();
+    node_.reset();
   }
 
   bool sendGoal(
@@ -291,7 +289,7 @@ class SmootherTest : public ::testing::Test
 
     auto future_goal = client_->async_send_goal(goal);
 
-    if (rclcpp::spin_until_future_complete(node_lifecycle_, future_goal) !=
+    if (rclcpp::spin_until_future_complete(node_, future_goal) !=
       rclcpp::FutureReturnCode::SUCCESS)
     {
       std::cout << "failed sending goal" << std::endl;
@@ -315,12 +313,12 @@ class SmootherTest : public ::testing::Test
     std::cout << "Getting async result..." << std::endl;
     auto future_result = client_->async_get_result(goal_handle_);
     std::cout << "Waiting on future..." << std::endl;
-    rclcpp::spin_until_future_complete(node_lifecycle_, future_result);
+    rclcpp::spin_until_future_complete(node_, future_result);
     std::cout << "future received!" << std::endl;
     return future_result.get();
   }
 
-  std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_lifecycle_;
+  std::shared_ptr<rclcpp::Node> node_;
   std::shared_ptr<DummySmootherServer> smoother_server_;
   std::shared_ptr<rclcpp_action::Client<SmoothAction>> client_;
   std::shared_ptr<rclcpp_action::ClientGoalHandle<SmoothAction>> goal_handle_;
@@ -387,7 +385,7 @@ TEST_F(SmootherTest, testingCollisionCheckDisabled)
   SUCCEED();
 }
 
-TEST_F(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin)
+TEST(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin)
 {
   auto smoother_server = std::make_shared<DummySmootherServer>();
   smoother_server->set_parameter(
@@ -402,7 +400,7 @@ TEST_F(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin)
   SUCCEED();
 }
 
-TEST_F(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin)
+TEST(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin)
 {
   auto smoother_server = std::make_shared<DummySmootherServer>();
   smoother_server->set_parameter(
@@ -417,7 +415,7 @@ TEST_F(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin)
   SUCCEED();
 }
 
-TEST_F(SmootherConfigTest, testingConfigureSuccessWithDefaultPlugin)
+TEST(SmootherConfigTest, testingConfigureSuccessWithDefaultPlugin)
 {
   auto smoother_server = std::make_shared<DummySmootherServer>();
   auto state = smoother_server->configure();

From 96b6d8ea031564e9a98bdcfbc974d5122683845c Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Tue, 27 Jun 2023 14:32:07 -0700
Subject: [PATCH 2/2] Update test_smoother_server.cpp

---
 nav2_smoother/test/test_smoother_server.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_smoother/test/test_smoother_server.cpp b/nav2_smoother/test/test_smoother_server.cpp
index a84b1cdc32..08e475de8e 100644
--- a/nav2_smoother/test/test_smoother_server.cpp
+++ b/nav2_smoother/test/test_smoother_server.cpp
@@ -158,8 +158,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber
   DummyFootprintSubscriber(
     nav2_util::LifecycleNode::SharedPtr node,
     const std::string & topic_name,
-    tf2_ros::Buffer & tf_)
-  : FootprintSubscriber(node, topic_name, tf_)
+    tf2_ros::Buffer & tf)
+  : FootprintSubscriber(node, topic_name, tf)
   {
     auto footprint = std::make_shared<geometry_msgs::msg::PolygonStamped>();
     footprint->header.frame_id = "base_link";  // global frame = robot frame to avoid tf lookup