Testing & Validation

测试与验证

All modifications to localization modules must pass the following test levels before merging into the main branch.

Test Levels

Level	Framework	Content	Command
`Unit Test`	gtest	Algorithm mathematical correctness, boundary conditions, parameter validation	ament_add_ros_isolated_gtest
`Smoke Test`	autoware_testing	Node starts and exits normally with default parameters	add_smoke_test
`Integration Test`	launch_testing	Simulate input data streams, verify output	pytest.mark.launch_test
`Rosbag Replay`	Manual/CI	Real scenario data validation	ros2 bag play

Rosbag Replay Metrics

Metric	Description	Pass Criteria
`NDT Score (NVTL)`	Matching quality	Should not significantly drop below baseline
`NDT Iteration Count`	Convergence speed	Should not frequently reach max_iterations
`EKF Pose Gate Rejection Rate`	Outlier ratio	< 5%
`Execution Time`	Real-time performance	< critical_upper_bound_exe_time_ms
`Lateral Error RMSE`	Localization accuracy	Port docking scenario < 5cm
`Longitudinal Error RMSE`	Localization accuracy	Port docking scenario < 10cm
`Heading Error RMSE`	Orientation accuracy	< 0.5°

CI/CD Checks

Check	Description
`DCO`	Developer Certificate of Origin signature
`semantic-pull-request`	PR title follows Conventional Commits
`pre-commit`	Code formatting and lint checks
`spell-check-differential`	CSpell spell checking
`build-and-test-differential`	Build and test affected packages

test_my_localizer.cpp

cpp

#include <gtest/gtest.h>
#include "autoware/my_localizer/algorithm.hpp"

TEST(AlgorithmTest, ScoreCalculation)
{
  auto result = autoware::my_localizer::calculate_score(
    test_cloud, test_map);
  EXPECT_GT(result.score, 0.0);
  EXPECT_LT(result.score, 100.0);
}

TEST(AlgorithmTest, EmptyInput)
{
  auto result = autoware::my_localizer::calculate_score(
    {}, test_map);
  EXPECT_FALSE(result.is_valid);
}

Custom Module Development

Parameter Tuning Guide