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Use target_compile_definitions instead of installing test files #2009

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merged 4 commits into from
Jan 23, 2025
Merged

Use target_compile_definitions instead of installing test files #2009

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54fa133
Use target_compile_definitions instead of installing test files
saikishor Jan 20, 2025
f258c0f
Merge branch 'ros-controls:master' into remove/installed/test/files
saikishor Jan 20, 2025
1f77144
Remove ament_index_cpp dependency
saikishor Jan 20, 2025
f967d58
Also remove ament_index_cpp usage in controller_interface package
saikishor Jan 20, 2025
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5 changes: 3 additions & 2 deletions controller_interface/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,12 @@ if(BUILD_TESTING)
)

ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
install(FILES test/test_controller_node_options.yaml
DESTINATION test)
target_link_libraries(test_controller_with_options
controller_interface
)
target_compile_definitions(
test_controller_with_options
PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")

ament_add_gmock(test_chainable_controller_interface test/test_chainable_controller_interface.cpp)
target_link_libraries(test_chainable_controller_interface
Expand Down
9 changes: 4 additions & 5 deletions controller_interface/test/test_controller_with_options.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@

#include <gtest/gtest.h>
#include <string>
#include "ament_index_cpp/get_package_prefix.hpp"

class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
{
Expand Down Expand Up @@ -95,8 +94,8 @@ TEST(ControllerWithOption, init_with_node_options_arguments_parameters_file)
rclcpp::init(argc, argv);
// creates the controller
FriendControllerWithOptions controller;
const std::string params_file_path = ament_index_cpp::get_package_prefix("controller_interface") +
"/test/test_controller_node_options.yaml";
const std::string params_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_node_options.yaml");
std::cerr << params_file_path << std::endl;
auto controller_node_options = controller.define_custom_node_options();
controller_node_options.arguments({"--ros-args", "--params-file", params_file_path});
Expand Down Expand Up @@ -129,8 +128,8 @@ TEST(
rclcpp::init(argc, argv);
// creates the controller
FriendControllerWithOptions controller;
const std::string params_file_path = ament_index_cpp::get_package_prefix("controller_interface") +
"/test/test_controller_node_options.yaml";
const std::string params_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_node_options.yaml");
std::cerr << params_file_path << std::endl;
auto controller_node_options = controller.define_custom_node_options();
controller_node_options.arguments(
Expand Down
12 changes: 3 additions & 9 deletions controller_manager/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,6 @@ endif()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

set(THIS_PACKAGE_INCLUDE_DEPENDS
ament_index_cpp
controller_interface
controller_manager_msgs
diagnostic_updater
Expand Down Expand Up @@ -201,6 +200,9 @@ if(BUILD_TESTING)
test_controller
ros2_control_test_assets::ros2_control_test_assets
)
target_compile_definitions(
test_spawner_unspawner
PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")

ament_add_gmock(test_hardware_spawner
test/test_hardware_spawner.cpp
Expand All @@ -212,14 +214,6 @@ if(BUILD_TESTING)
ros2_control_test_assets::ros2_control_test_assets
)

install(FILES
test/test_controller_spawner_with_type.yaml
test/test_controller_overriding_parameters.yaml
test/test_controller_spawner_with_fallback_controllers.yaml
test/test_controller_spawner_wildcard_entries.yaml
test/test_controller_spawner_with_interfaces.yaml
DESTINATION test)

ament_add_gmock(test_hardware_management_srvs
test/test_hardware_management_srvs.cpp
)
Expand Down
1 change: 0 additions & 1 deletion controller_manager/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
<buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
<buildtool_depend>ament_cmake_python</buildtool_depend>

<depend>ament_index_cpp</depend>
<depend>backward_ros</depend>
<depend>controller_interface</depend>
<depend>controller_manager_msgs</depend>
Expand Down
65 changes: 31 additions & 34 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,8 +257,8 @@ TEST_F(TestLoadController, multi_ctrls_test_type_in_param)

TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

cm_->set_parameter(rclcpp::Parameter(
"ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
Expand Down Expand Up @@ -301,8 +301,8 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)

TEST_F(TestLoadController, spawner_test_type_in_params_file)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -368,8 +368,8 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)

TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_wildcard_entries.yaml";
const std::string test_file_path = std::string(PARAMETERS_FILE_PATH) +
std::string("test_controller_spawner_wildcard_entries.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -439,8 +439,8 @@ TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)

TEST_F(TestLoadController, spawner_test_failed_activation_of_controllers)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_interfaces.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_interfaces.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -577,11 +577,9 @@ TEST_F(TestLoadController, unload_on_kill_activate_as_group)
TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding)
{
const std::string main_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
const std::string overriding_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_overriding_parameters.yaml";
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_overriding_parameters.yaml");

ControllerManagerRunner cm_runner(this);
EXPECT_EQ(
Expand Down Expand Up @@ -631,11 +629,9 @@ TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding)
TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding_reverse)
{
const std::string main_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_overriding_parameters.yaml";
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_overriding_parameters.yaml");
const std::string overriding_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

ControllerManagerRunner cm_runner(this);
EXPECT_EQ(
Expand Down Expand Up @@ -684,8 +680,9 @@ TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding_reverse)

TEST_F(TestLoadController, spawner_test_fallback_controllers)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_fallback_controllers.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) +
std::string("test_controller_spawner_with_fallback_controllers.yaml");

cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
Expand Down Expand Up @@ -1031,8 +1028,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, multi_ctrls_test_type_in_param)

TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -1106,8 +1103,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
TEST_F(
TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file_deprecated_namespace_arg)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -1196,8 +1193,8 @@ TEST_F(

TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_with_wildcard_entries_in_params_file)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -1263,8 +1260,8 @@ TEST_F(
TestLoadControllerWithNamespacedCM,
spawner_test_fail_namespaced_controllers_with_non_wildcard_entries)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
Expand Down Expand Up @@ -1303,11 +1300,11 @@ TEST_F(

TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
const std::string fallback_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_fallback_controllers.yaml";
std::string(PARAMETERS_FILE_PATH) +
std::string("test_controller_spawner_with_fallback_controllers.yaml");

cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
Expand Down Expand Up @@ -1370,11 +1367,11 @@ TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)

TEST_F(TestLoadController, spawner_test_parsing_same_params_file_multiple_times)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";
const std::string test_file_path =
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
const std::string fallback_test_file_path =
ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_fallback_controllers.yaml";
std::string(PARAMETERS_FILE_PATH) +
std::string("test_controller_spawner_with_fallback_controllers.yaml");

cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
Expand Down
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