planning: add navigation dummy node to publish test navigation info.

modules/common/adapters/message_adapters.h

@@ -101,7 +101,7 @@ using LocalizationMsfSinsPvaAdapter =
 using LocalizationMsfStatusAdapter =
     Adapter<apollo::localization::LocalizationStatus>;
 using RelativeMapAdapter = Adapter<apollo::relative_map::MapMsg>;
-using NavigationAdapter = Adapter<apollo::relative_map::NavigationPath>;
+using NavigationAdapter = Adapter<apollo::relative_map::NavigationInfo>;
 
 }  // namespace adapter
 }  // namespace common

modules/map/relative_map/tools/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_binary(
+    name = "navigation_dummy",
+    srcs = ["navigation_dummy.cc"],
+    deps = [
+        "//modules/map/relative_map:relative_map_lib",
+        "//modules/common",
+        "@ros//:ros_common",
+    ],
+)
+
+cpplint()

modules/map/relative_map/tools/navigation_dummy.cc

+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include <chrono>
+#include <thread>
+
+#include "gflags/gflags.h"
+#include "ros/ros.h"
+
+#include "modules/common/adapters/adapter_manager.h"
+#include "modules/common/adapters/proto/adapter_config.pb.h"
+#include "modules/common/log.h"
+#include "modules/map/relative_map/proto/navigation.pb.h"
+
+DEFINE_string(navigation_dummy_file,
+              "modules/map/testdata/navigation_dummy/navigation_info.pb.txt",
+              "Used for sending navigation result to relative_map node.");
+
+int main(int argc, char** argv) {
+  using std::this_thread::sleep_for;
+
+  using apollo::common::adapter::AdapterManager;
+  using apollo::common::adapter::AdapterManagerConfig;
+  using apollo::common::adapter::AdapterConfig;
+
+  google::InitGoogleLogging(argv[0]);
+  google::ParseCommandLineFlags(&argc, &argv, true);
+  ros::init(argc, argv, "relative_map_tester");
+
+  FLAGS_alsologtostderr = true;
+  AdapterManagerConfig config;
+  config.set_is_ros(true);
+  auto* sub_config = config.add_config();
+  sub_config->set_mode(AdapterConfig::PUBLISH_ONLY);
+  sub_config->set_type(AdapterConfig::NAVIGATION);
+
+  AdapterManager::Init(config);
+  AINFO << "AdapterManager is initialized.";
+
+  apollo::relative_map::NavigationInfo navigation_info;
+  if (!apollo::common::util::GetProtoFromFile(FLAGS_navigation_dummy_file,
+                                              &navigation_info)) {
+    AERROR << "failed to load file: " << FLAGS_navigation_dummy_file;
+    return -1;
+  }
+
+  ros::Rate loop_rate(0.3);  // frequency
+
+  while (ros::ok()) {
+    AdapterManager::FillNavigationHeader("navigation_dummy", &navigation_info);
+    AdapterManager::PublishNavigation(navigation_info);
+    AINFO << "Sending navigation info:" << navigation_info.DebugString();
+    ros::spinOnce();  // yield
+    loop_rate.sleep();
+  }
+
+  return 0;
+}