Use a set of CMakeLists.txt and package.xml files for server and test

server/CMakeLists.txt → CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(parameter_server VERSION 1.0.1)
+project(persist_parameter_server VERSION 1.0.1)
 
 # Set Release build if no build type was specified
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -33,9 +33,11 @@ find_package(rmw REQUIRED)
 find_package(Boost REQUIRED COMPONENTS program_options filesystem)
 find_package(yaml_cpp_vendor REQUIRED)
 
+option(CLIENT_TEST_DEMO "Build client test demo" OFF)
+
 add_executable(server
- src/parameter_server.cpp
- src/main.cpp
+ server/src/parameter_server.cpp
+ server/src/main.cpp
 )
 
 # yaml-cpp updates CMake thing significantly on v0.8.0 or later.
@@ -69,16 +71,65 @@ endif()
 
 target_include_directories(server
   PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/server/include>
 )
 
 install(TARGETS server DESTINATION lib/${PROJECT_NAME})
 
 # Install launch files.
 install(DIRECTORY
-  launch
-  param
+  server/launch
+  server/param
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Build client test demo
+if (CLIENT_TEST_DEMO)
+add_executable(client_default
+  test/src/test_default.cpp
+  test/src/persist_parameter_client.cpp
+)
+
+target_link_libraries(client_default
+  PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  rcutils::rcutils
+  ${std_msgs_TARGETS}
+  ${std_srvs_TARGETS}
+)
+
+target_include_directories(client_default
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>
+)
+
+add_executable(client_with_node_options
+  test/src/test_with_node_options.cpp
+  test/src/persist_parameter_client.cpp
+)
+
+target_link_libraries(client_with_node_options
+  PUBLIC
+  rclcpp::rclcpp
+  rclcpp_components::component
+  rcutils::rcutils
+  ${std_msgs_TARGETS}
+  ${std_srvs_TARGETS}
+)
+
+target_include_directories(client_with_node_options
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test/include>
+)
+
+install(TARGETS client_default client_with_node_options DESTINATION lib/${PROJECT_NAME})
+
+# Install launch files.
+install(DIRECTORY
+  test/launch
   DESTINATION share/${PROJECT_NAME}/
 )
+endif()
 
 ament_package()

docker/Dockerfile

@@ -40,7 +40,7 @@ RUN apt-get update \
 # Build and source colcon workspace
 RUN cd $COLCON_WS \
     && source /opt/ros/$ROS_DISTRO/setup.bash \
-    && colcon build --symlink-install --packages-select parameter_server
+    && colcon build --symlink-install --packages-select persist_parameter_server
 
 # Add source environment in .bashrc
 RUN echo -n -e "\n" >> /root/.bashrc

k8s/deployment.yaml

@@ -17,7 +17,7 @@ spec:
         image: tomoyafujita/ros2_param_server:rolling
         command: ["/bin/bash", "-c"]
         args:
-        - "source /opt/ros/rolling/setup.bash && source /root/colcon_ws/install/setup.bash && ros2 run parameter_server server --file-path /etc/config/parameter_server.yaml"
+        - "source /opt/ros/rolling/setup.bash && source /root/colcon_ws/install/setup.bash && ros2 run persist_parameter_server server --file-path /etc/config/parameter_server.yaml"
         resources:
           requests:
             memory: "128Mi"

server/package.xml → package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>parameter_server</name>
+  <name>persist_parameter_server</name>
   <version>1.0.1</version>
   <description>
     ros2 parameter server that other nodes can write/read parameters including persistent parameters.

scripts/build-verification.sh

@@ -49,7 +49,7 @@ function build_parameter_server () {
     echo "[${FUNCNAME[0]}]: build ROS 2 parameter server."
     source /opt/ros/${ROS_DISTRO}/setup.bash
     cd ${COLCON_WORKSPACE}
-    colcon build --symlink-install --packages-select parameter_server ros2_persistent_parameter_server_test
+    colcon build --symlink-install --packages-select persist_parameter_server --cmake-args -D CLIENT_TEST_DEMO=ON
 }
 
 function test_parameter_server () {

test/test.py

@@ -13,14 +13,14 @@
 
 signal.signal(signal.SIGINT, signal.SIG_DFL)
 sleep_time = 3
-launchServerCmd = ['ros2', 'launch', 'ros2_persistent_parameter_server_test', 'test.launch.py']
+launchServerCmd = ['ros2', 'launch', 'persist_parameter_server', 'test.launch.py']
 launchClientCmd = ['ros2', 'run',
-                   'ros2_persistent_parameter_server_test', 'client_default']
+                   'persist_parameter_server', 'client_default']
 
 launchServerCmdWithNodeOptions = [
-    'ros2', 'launch', 'ros2_persistent_parameter_server_test', 'test.launch.py', 'allow_dynamic_typing:=true']
+    'ros2', 'launch', 'persist_parameter_server', 'test.launch.py', 'allow_dynamic_typing:=true']
 launchClientCmdWithNodeOptions = [
-    'ros2', 'run', 'ros2_persistent_parameter_server_test', 'client_with_node_options']
+    'ros2', 'run', 'persist_parameter_server', 'client_with_node_options']
 
 if shutil.which('ros2') is None:
     print("source <colcon_ws>/install/setup.bash...then retry.")