adding reconfigure test to thetastar (ros-navigation#3275)

nav2_theta_star_planner/test/test_theta_star.cpp

@@ -185,3 +185,47 @@ TEST(ThetaStarPlanner, test_theta_star_planner) {
  life_node.reset();
  costmap_ros.reset();
 }
+
+TEST(ThetaStarPlanner, test_theta_star_reconfigure)
+{
+ rclcpp_lifecycle::LifecycleNode::SharedPtr life_node =
+ std::make_shared<rclcpp_lifecycle::LifecycleNode>("ThetaStarPlannerTest");
+
+ std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros =
+ std::make_shared<nav2_costmap_2d::Costmap2DROS>("global_costmap");
+ costmap_ros->on_configure(rclcpp_lifecycle::State());
+
+ auto planner = std::make_unique<nav2_theta_star_planner::ThetaStarPlanner>();
+ try {
+ // Expect to throw due to invalid prims file in param
+ planner->configure(life_node, "test", nullptr, costmap_ros);
+ } catch (...) {
+ }
+ planner->activate();
+
+ auto rec_param = std::make_shared<rclcpp::AsyncParametersClient>(
+ life_node->get_node_base_interface(), life_node->get_node_topics_interface(),
+ life_node->get_node_graph_interface(),
+ life_node->get_node_services_interface());
+
+ auto results = rec_param->set_parameters_atomically(
+ {rclcpp::Parameter("test.how_many_corners", 8),
+ rclcpp::Parameter("test.w_euc_cost", 1.0),
+ rclcpp::Parameter("test.w_traversal_cost", 2.0),
+ rclcpp::Parameter("test.use_final_approach_orientation", false)});
+
+ rclcpp::spin_until_future_complete(
+ life_node->get_node_base_interface(),
+ results);
+
+ EXPECT_EQ(life_node->get_parameter("test.how_many_corners").as_int(), 8);
+ EXPECT_EQ(
+ life_node->get_parameter("test.w_euc_cost").as_double(),
+ 1.0);
+ EXPECT_EQ(life_node->get_parameter("test.w_traversal_cost").as_double(), 2.0);
+ EXPECT_EQ(life_node->get_parameter("test.use_final_approach_orientation").as_bool(), false);
+
+ rclcpp::spin_until_future_complete(
+ life_node->get_node_base_interface(),
+ results);
+}