`parking_planner` Tests Fail in `arm64` Builds
Description
When CI builds and tests Autoware.AUTO, the tests for parking_motion_planner
consistently fail in the build_arm64
job.
How to Reproduce
Make a change to Autoware.AUTO and run CI. Alternatively, test with QEMU:
cd ~/.adehome/AutowareAuto
sudo apt-get install qemu binfmt-support qemu-user-static
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
ade --rc .aderc-arm64 start --update --enter
ade$ cd AutowareAuto
ade$ colcon build --packages-up-to parking_planner
ade$ colcon test --packages-select parking_planner
Current Behavior
Tests fail. Error output:
[ RUN ] integration/TestIntegration.with_obstacles/0
solver : t_proc (avg) t_wall (avg) n_eval
nlp_f | 22.24ms ( 12.54us) 22.10ms ( 12.46us) 1773
nlp_g | 2.47 s ( 1.39ms) 2.48 s ( 1.40ms) 1774
nlp_grad | 375.54ms (375.54ms) 375.61ms (375.61ms) 1
nlp_grad_f | 11.55ms ( 64.53us) 11.53ms ( 64.41us) 179
nlp_jac_g | 4.11 s ( 8.00ms) 4.11 s ( 8.02ms) 513
total | 30.82 s ( 30.82 s) 30.86 s ( 30.86 s) 1
dynamics violated in step 14
Trajectory ok is: 0
/home/whitleysoftwareservices/autoware.auto/src/motion/planning/parking_planner/test/test_integration.cpp:184: Failure
Expected equality of these values:
result.get_status()
Which is: 4-byte object <01-00 00-00>
params.expected_status
Which is: 4-byte object <00-00 00-00>
[ FAILED ] integration/TestIntegration.with_obstacles/0, where GetParam() = 184-byte object <F0-CF 0D-00 55-00 00-00 14-00 00-00 00-00 00-00 14-00 00-00 00-00 00-00 6C-65 20-69 6E-20 4D-58 A0-4B 0E-00 55-00 00-00 30-4C 0E-00 55-00 00-00 30-4C 0E-00 55-00 00-00 00-00 00-00 00-00 00-00 ... 00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00 00-00 F0-3F 00-00 00-00 00-00 F0-3F CD-CC CC-CC CC-CC F4-3F 9A-99 99-99 99-99 B9-3F 9A-99 99-99 99-99 B9-3F 00-00 00-00 6E-2E 00-00> (30929 ms)
Expected behavior
Tests pass.
Edited by Joshua Whitley