Test Failures on `arm64` architecture
Description
When the AutowareAuto stack is built on arm64
hardware, the following build failures are produced:
build/ndt/Testing/20200129-2021/Test.xml: 5 tests, 0 errors, 1 failure, 0 skipped
build/ndt/test_results/ndt/ndt_gtest.gtest.xml: 19 tests, 0 errors, 1 failure, 0 skipped
- ndt.StaticNDTVoxelTest ndt_map_voxel_inverse_covariance_basic
<<< failure message
/builds/autowarefoundation/autoware.auto/AutowareAuto/src/localization/ndt/test/test_ndt_map.cpp:309
Expected equality of these values:
voxel.inverse_covariance()
Which is: 72-byte object <4F-3D 0A-D7 A3-70 26-40 FC-5B 8F-C2 F5-28 1D-C0 E3-FF FF-FF FF-FF 21-C0 FC-5B 8F-C2 F5-28 1D-C0 00-85 EB-51 B8-9E 13-40 DB-FF FF-FF FF-FF 17-40 E3-FF FF-FF FF-FF 21-C0 DA-FF FF-FF FF-FF 17-40 D1-FF FF-FF FF-FF 1D-40>
inv_covariance
Which is: 72-byte object <80-3D 0A-D7 A3-70 26-40 3C-5C 8F-C2 F5-28 1D-C0 0B-00 00-00 00-00 22-C0 3C-5C 8F-C2 F5-28 1D-C0 2B-85 EB-51 B8-9E 13-40 0F-00 00-00 00-00 18-40 0B-00 00-00 00-00 22-C0 0E-00 00-00 00-00 18-40 12-00 00-00 00-00 1E-40>
>>>
and
build/ray_ground_classifier/Testing/20200129-2021/Test.xml: 7 tests, 0 errors, 1 failure, 0 skipped
build/ray_ground_classifier/test_results/ray_ground_classifier/test_ray_aggregator_gtest.gtest.xml: 6 tests, 0 errors, 1 failure, 0 skipped
- ray_ground_classifier.ray_aggregator multi_insert
<<< failure message
/builds/autowarefoundation/autoware.auto/AutowareAuto/src/perception/filters/ray_ground_classifier/test/src/test_ray_aggregator.cpp:165
Value of: agg.is_ray_ready()
Actual: true
Expected: false
/builds/autowarefoundation/autoware.auto/AutowareAuto/src/perception/filters/ray_ground_classifier/test/src/test_ray_aggregator.cpp:167
Value of: agg.is_ray_ready()
Actual: true
Expected: false
/builds/autowarefoundation/autoware.auto/AutowareAuto/src/perception/filters/ray_ground_classifier/test/src/test_ray_aggregator.cpp:181
Expected equality of these values:
ray1.size()
Which is: 4
12U
Which is: 12
/builds/autowarefoundation/autoware.auto/AutowareAuto/src/perception/filters/ray_ground_classifier/test/src/test_ray_aggregator.cpp:189
Expected equality of these values:
ray3.size()
Which is: 8
4U
Which is: 4
/builds/autowarefoundation/autoware.auto/AutowareAuto/src/perception/filters/ray_ground_classifier/test/src/test_ray_aggregator.cpp:191
Expected equality of these values:
total_points
Which is: 16
2 * (3 + 3 + 2 + 2)
Which is: 20
>>>
How to Reproduce
Run CI on the branch 7-add-arm-native-ci
, build in ade
on native arm64
hardware, or use the instructions here to run an arm64
-native container on x86 and then follow the installation and development setup instructions. After modifying the .aderc
file to look like the following:
export ADE_DOCKER_RUN_ARGS="--cap-add=SYS_PTRACE"
export ADE_GITLAB=gitlab.com
export ADE_REGISTRY=registry.gitlab.com
export ADE_IMAGES="
registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/arm64/ade:7-add-arm-native-ci
"
Run these commands:
ade start
ade enter
cd AutowareAuto
colcon build
colcon test
Current Behavior
Failures above are present.
Expected behavior
No test failures.
Edited by Joshua Whitley