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Fixing and cleaning up interface tests #754

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merged 2 commits into from
May 12, 2022
Merged

Fixing and cleaning up interface tests #754

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4d1f665
Fixing and cleaning up interface tests
ayrton04 May 11, 2022
9c62e48
Cleaning up before shutting down
ayrton04 May 11, 2022
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72 changes: 46 additions & 26 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -198,20 +198,30 @@ if(BUILD_TESTING)
rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(test_ekf "${cpp_typesupport_target}")

ament_add_gtest_executable(test_ekf_localization_node_interfaces
test/test_ekf_localization_node_interfaces.cpp)
target_link_libraries(test_ekf_localization_node_interfaces ${library_name})

rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(test_ekf_localization_node_interfaces "${cpp_typesupport_target}")

add_dependencies(test_ekf_localization_node_interfaces ekf_node)
ament_add_test(test_ekf_localization_node_interfaces
ament_add_gtest_executable(
test_ekf_node_interfaces
test/test_se_node_interfaces.cpp)
target_link_libraries(
test_ekf_node_interfaces
${library_name})

rosidl_get_typesupport_target(
cpp_typesupport_target
"${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(
test_ekf_node_interfaces
"${cpp_typesupport_target}")

add_dependencies(
test_ekf_node_interfaces
ekf_node)
ament_add_test(
test_ekf_node_interfaces
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
TIMEOUT 300
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_ekf_localization_node_interfaces.launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
)
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_se_node_interfaces.launch.py"
ENV NODE_TYPE=ekf
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")

#### UKF TESTS #####
ament_add_gtest(test_ukf test/test_ukf.cpp)
Expand All @@ -220,20 +230,30 @@ if(BUILD_TESTING)
rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(test_ukf "${cpp_typesupport_target}")

ament_add_gtest_executable(test_ukf_localization_node_interfaces
test/test_ukf_localization_node_interfaces.cpp)
target_link_libraries(test_ukf_localization_node_interfaces ${library_name})

rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(test_ukf_localization_node_interfaces "${cpp_typesupport_target}")

add_dependencies(test_ukf_localization_node_interfaces ukf_node)
ament_add_test(test_ukf_localization_node_interfaces
ament_add_gtest_executable(
test_ukf_node_interfaces
test/test_se_node_interfaces.cpp)
target_link_libraries(
test_ukf_node_interfaces
${library_name})

rosidl_get_typesupport_target(
cpp_typesupport_target
"${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(
test_ukf_node_interfaces
"${cpp_typesupport_target}")

add_dependencies(
test_ukf_node_interfaces
ukf_node)
ament_add_test(
test_ukf_node_interfaces
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
TIMEOUT 300
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_ukf_localization_node_interfaces.launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
)
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_se_node_interfaces.launch.py"
ENV NODE_TYPE=ukf
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")

#### DATA TESTS #####
# ament_add_gtest(test_ekf_localization_node_bag1 test/test_localization_node_bag_pose_tester.cpp)
Expand Down Expand Up @@ -294,9 +314,9 @@ if(BUILD_TESTING)
filter_base-test
test_filter_base_diagnostics_timestamps
test_ekf
test_ekf_localization_node_interfaces
test_ekf_node_interfaces
test_ukf
test_ukf_localization_node_interfaces
test_ukf_node_interfaces
#test_ekf_localization_node_bag1
#test_ekf_localization_node_bag2
#test_ekf_localization_node_bag3
Expand Down
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