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dwb_critics flaky test - lineCost coordinates must be within costmap #4889

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Jan 31, 2025
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dwb_critics flaky test - lineCost coordinates must be within costmap #4889

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4 changes: 3 additions & 1 deletion nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -248,7 +248,9 @@ TEST(ObstacleFootprint, LineCost)
costmap_ros->getCostmap()->setCost(4, 3, 100);
costmap_ros->getCostmap()->setCost(4, 4, 100);

ASSERT_EQ(critic->lineCost(3, 3, 0, 50), 50); // all 50
auto max_y_in_grid_coordinates = costmap_ros->getCostmap()->getSizeInCellsY() - 1;
ASSERT_EQ(max_y_in_grid_coordinates, 49);
ASSERT_EQ(critic->lineCost(3, 3, 0, max_y_in_grid_coordinates), 50); // all 50
ASSERT_EQ(critic->lineCost(4, 4, 0, 10), 100); // all 100
ASSERT_EQ(critic->lineCost(0, 50, 3, 3), 100); // pass 50 and 100
}
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