Add obstacle plugin

[kenconnor]

pedestrian pluginsに対応する障害物用のプラグインの作成
https://github.com/CMU-cabot/TODO-Consortium/issues/280

[kenconnor]

./launch.sh -u -p <package_name> ?で特定のパッケージの単体テストが実施できる。
単体テストの結果、失敗しているテストが関係ないものだけであればOK
おそらくbond test?が失敗している

[daisukes]

./launch.sh -u -- -p <package_name>にする必要があります。

[kenconnor]

@daisukes
smclib, test_bondのみFailureとなる状況になりました。

kufushatec@cabot-sim-pc:~/cabot-navigation$ ./launch.sh -u -- -a
WARN[0000] Found orphan containers ([cabot-navigation-map_data-1 cabot-navigation-map_server-1 cabot-navigation-mongodb-1]) for this project. If you removed or renamed this service in your compose file,
 you can run this command with the --remove-orphans flag to clean it up. 
Starting >>> bond    
Starting >>> cabot_msgs
Starting >>> queue_msgs
Starting >>> smclib
Starting >>> cabot
Starting >>> mf_localization_msgs
Starting >>> pedestrian_plugin_msgs
Starting >>> cabot_description
Starting >>> cabot_diagnostics
Starting >>> cabot_gazebo
Starting >>> cabot_site_cmu
Starting >>> cabot_site_cmu_3d
Starting >>> cabot_site_kufusha
Starting >>> cabot_site_large_room
Starting >>> cabot_site_test_room
Starting >>> queue_utils_py
Finished <<< cabot_description [0.14s]                                                                                                                                                    
Finished <<< cabot_site_cmu [0.13s]
Finished <<< cabot_site_cmu_3d [0.13s]
Finished <<< cabot_site_kufusha [0.13s]
Finished <<< cabot_site_large_room [0.13s]
Finished <<< cabot_site_test_room [0.13s]
--- stderr: queue_utils_py

----------------------------------------------------------------------
Ran 0 tests in 0.000s

OK
---
Finished <<< queue_utils_py [0.16s]
Finished <<< cabot_msgs [0.72s]                                                                                                                                                          
Starting >>> cabot_common
Finished <<< pedestrian_plugin_msgs [0.71s]
Starting >>> pedestrian_plugin
Finished <<< cabot_gazebo [0.95s]                                                                                                                                                     
Finished <<< cabot_diagnostics [1.00s]                                                                                                                                                 
Finished <<< mf_localization_msgs [1.01s]
Starting >>> mf_localization_rviz
--- stderr: smclib                                                                                                                                                                 
Errors while running CTest
Output from these tests are in: /home/developer/ros2_ws/build/smclib/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
---
Finished <<< smclib [1.22s]     [ with test failures ]
Finished <<< cabot [1.62s]                                                                                                                                         
Finished <<< mf_localization_rviz [0.81s]                                                                                                           
Finished <<< cabot_common [1.18s]
Starting >>> cabot_ui
Finished <<< pedestrian_plugin [1.50s]                                                                            
Finished <<< queue_msgs [3.83s]                                                        
Starting >>> cabot_bt
Starting >>> cabot_navigation2
Starting >>> queue_people_py
Finished <<< bond [3.94s]                                                                                                                
Starting >>> bondcpp
Finished <<< bondcpp [0.86s]                                                                                                                
Starting >>> bond_core
Starting >>> test_bond
Finished <<< bond_core [0.02s]                                                                                                                                   
Finished <<< queue_people_py [1.08s]                                                                                                          
Finished <<< cabot_bt [1.56s]                                                                                        
Finished <<< cabot_navigation2 [2.30s]                                                             
Finished <<< cabot_ui [9.58s]                                            
--- stderr: test_bond                       
Errors while running CTest
Output from these tests are in: /home/developer/ros2_ws/build/test_bond/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
---
Finished <<< test_bond [11.1s]  [ with test failures ]

Summary: 26 packages finished [16.2s]
  3 packages had stderr output: queue_utils_py smclib test_bond
  2 packages had test failures: smclib test_bond
build/smclib/Testing/20241029-0718/Test.xml: 7 tests, 0 errors, 1 failure, 0 skipped
- uncrustify
  <<< failure message
    -- run_test.py: invoking following command in '/home/developer/ros2_ws/src/bond_core/smclib':
     - /opt/ros/humble/bin/ament_uncrustify --xunit-file /home/developer/ros2_ws/build/smclib/test_results/smclib/uncrustify.xunit.xml
    Code style divergence in file 'include/smclib/statemap.hpp':
    
    --- include/smclib/statemap.hpp
    +++ include/smclib/statemap.hpp.uncrustify
    @@ -108,0 +109 @@
    +
    @@ -124 +125,3 @@
    -protected:
    +
    +protected:
    +
    @@ -143,0 +147 @@
    +
    @@ -150 +154,3 @@
    -protected:
    +
    +protected:
    +
    @@ -171,0 +178 @@
    +
    @@ -178 +185,3 @@
    -protected:
    +
    +protected:
    +
    @@ -266,0 +276 @@
    +
    @@ -273 +283,3 @@
    -protected:
    +
    +protected:
    +
    @@ -354,0 +367 @@
    +
    @@ -361 +374,3 @@
    -protected:
    +
    +protected:
    +
    @@ -420,0 +436 @@
    +
    @@ -438 +454,3 @@
    -protected:
    +
    +protected:
    +
    @@ -469,0 +488 @@
    +
    @@ -476 +495,3 @@
    -protected:
    +
    +protected:
    +
    @@ -746,0 +768 @@
    +
    
    1 files with code style divergence
    -- run_test.py: return code 1
    -- run_test.py: verify result file '/home/developer/ros2_ws/build/smclib/test_results/smclib/uncrustify.xunit.xml'
  >>>
build/smclib/test_results/smclib/uncrustify.xunit.xml: 1 test, 0 errors, 1 failure, 0 skipped
- smclib.uncrustify include/smclib/statemap.hpp
  <<< failure message
    Diff with 53 lines
  >>>
build/test_bond/Testing/20241029-0718/Test.xml: 6 tests, 0 errors, 1 failure, 0 skipped
- test_callbacks_cpp
  <<< failure message
    -- run_test.py: invoking following command in '/home/developer/ros2_ws/build/test_bond':
     - /home/developer/ros2_ws/build/test_bond/test_callbacks_cpp --gtest_output=xml:/home/developer/ros2_ws/build/test_bond/test_results/test_bond/test_callbacks_cpp.gtest.xml
    Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
    [==========] Running 2 tests from 1 test suite.
    [----------] Global test environment set-up.
    [----------] 2 tests from TestCallbacksCpp
    [ RUN      ] TestCallbacksCpp.dieInLifeCallback
    /home/developer/ros2_ws/src/bond_core/test_bond/test/test_callbacks_cpp.cpp:94: Failure
    Value of: a.waitUntilFormed(rclcpp::Duration(5.0s))
      Actual: false
    Expected: true
    [  FAILED  ] TestCallbacksCpp.dieInLifeCallback (5218 ms)
    [ RUN      ] TestCallbacksCpp.remoteNeverConnects
    [       OK ] TestCallbacksCpp.remoteNeverConnects (5117 ms)
    [----------] 2 tests from TestCallbacksCpp (10335 ms total)
    
    [----------] Global test environment tear-down
    [==========] 2 tests from 1 test suite ran. (10336 ms total)
    [  PASSED  ] 1 test.
    [  FAILED  ] 1 test, listed below:
    [  FAILED  ] TestCallbacksCpp.dieInLifeCallback
    
     1 FAILED TEST
    -- run_test.py: return code 1
    -- run_test.py: inject classname prefix into gtest result file '/home/developer/ros2_ws/build/test_bond/test_results/test_bond/test_callbacks_cpp.gtest.xml'
    -- run_test.py: verify result file '/home/developer/ros2_ws/build/test_bond/test_results/test_bond/test_callbacks_cpp.gtest.xml'
  >>>
build/test_bond/test_results/test_bond/test_callbacks_cpp.gtest.xml: 2 tests, 0 errors, 1 failure, 0 skipped
- test_bond.TestCallbacksCpp dieInLifeCallback
  <<< failure message
    /home/developer/ros2_ws/src/bond_core/test_bond/test/test_callbacks_cpp.cpp:94
    Value of: a.waitUntilFormed(rclcpp::Duration(5.0s))
      Actual: false
    Expected: true
  >>>

Summary: 878 tests, 0 errors, 4 failures, 76 skipped
WARN[0000] Found orphan containers ([cabot-navigation-map_data-1 cabot-navigation-map_server-1 cabot-navigation-mongodb-1]) for this project. If you removed or renamed this service in your compose file,
 you can run this command with the --remove-orphans flag to clean it up. 
[0.161s] WARNING:colcon.colcon_core.package_discovery:the --packages-ignore-regex '(rosbridge.*|rosapi)' doesn't match any of the package names
Starting >>> mf_localization_msgs
Starting >>> cabot_msgs
Starting >>> cabot_description
Starting >>> cabot_site_cmu
Starting >>> cabot_site_cmu_3d
Starting >>> cabot_site_kufusha
Starting >>> cabot_site_large_room
Starting >>> cabot_site_test_room
Starting >>> mf_localization_mapping
Finished <<< cabot_site_test_room [0.01s]
Finished <<< cabot_site_large_room [0.02s]
Finished <<< cabot_site_cmu_3d [0.02s]
Finished <<< cabot_site_kufusha [0.02s]
Finished <<< cabot_description [0.03s]
Finished <<< cabot_site_cmu [0.03s]
Finished <<< mf_localization_mapping [0.02s]
Finished <<< cabot_msgs [0.55s]                                                     
Starting >>> cabot_common
Finished <<< mf_localization_msgs [0.56s]
Starting >>> mf_localization
Starting >>> mf_localization_gazebo
Starting >>> mf_localization_rviz
Finished <<< mf_localization_gazebo [0.01s]
Finished <<< mf_localization_rviz [0.78s]                                                                       
Finished <<< cabot_common [1.11s]                                                 
Finished <<< mf_localization [1.40s]            
Starting >>> cabot_mf_localization
Finished <<< cabot_mf_localization [0.73s]            

Summary: 14 packages finished [2.81s]
Summary: 108 tests, 0 errors, 0 failures, 0 skipped

[kenconnor]

@daisukes
3階にSpawnできない問題が解決できました。
問題解決の確認に使用した新しく追加したテストケースは以下のPRでcabot_sites_testに追加しています。
CMU-cabot/cabot_sites_test#8