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Adding addition BUILD_TESTING requirement (#660)
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Signed-off-by: CursedRock17 <[email protected]>
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@CursedRock17
CursedRock17 authored Mar 14, 2024
1 parent 3c50932 commit 5eabd34
Showing 1 changed file with 108 additions and 105 deletions.
213 changes: 108 additions & 105 deletions test_tf2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,124 +19,127 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
endif()

find_package(ament_cmake_gtest REQUIRED)
find_package(builtin_interfaces REQUIRED)
if (BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(builtin_interfaces REQUIRED)
# Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
find_package(Eigen3 QUIET NO_MODULE)
if(NOT Eigen3_FOUND)
find_package(Eigen3 REQUIRED)
endif()
find_package(geometry_msgs REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_bullet REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_kdl REQUIRED)
find_package(tf2_ros REQUIRED)

ament_find_gtest()

ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
if(TARGET buffer_core_test)
target_link_libraries(buffer_core_test
${builtin_interfaces_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
tf2::tf2
${tf2_geometry_msgs_TARGETS}
tf2_ros::tf2_ros)
endif()
find_package(Eigen3 QUIET NO_MODULE)
if(NOT Eigen3_FOUND)
find_package(Eigen3 REQUIRED)
endif()
find_package(geometry_msgs REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_bullet REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_kdl REQUIRED)
find_package(tf2_ros REQUIRED)

ament_find_gtest()

ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
if(TARGET buffer_core_test)
target_link_libraries(buffer_core_test
${builtin_interfaces_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
tf2::tf2
${tf2_geometry_msgs_TARGETS}
tf2_ros::tf2_ros)
endif()

ament_add_gtest(test_message_filter test/test_message_filter.cpp)
if(TARGET test_message_filter)
target_link_libraries(test_message_filter
${builtin_interfaces_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
tf2::tf2
tf2_ros::tf2_ros)
endif()
ament_add_gtest(test_message_filter test/test_message_filter.cpp)
if(TARGET test_message_filter)
target_link_libraries(test_message_filter
${builtin_interfaces_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
tf2::tf2
tf2_ros::tf2_ros)
endif()

ament_add_gtest(test_convert test/test_convert.cpp)
if(TARGET test_convert)
target_link_libraries(test_convert
${geometry_msgs_TARGETS}
tf2::tf2
tf2_bullet::tf2_bullet
tf2_eigen::tf2_eigen
${tf2_geometry_msgs_TARGETS}
tf2_kdl::tf2_kdl)
if(TARGET Eigen3::Eigen)
# TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
target_link_libraries(test_convert Eigen3::Eigen)
else()
target_include_directories(test_convert PRIVATE ${Eigen3_INCLUDE_DIRS})
ament_add_gtest(test_convert test/test_convert.cpp)
if(TARGET test_convert)
target_link_libraries(test_convert
${geometry_msgs_TARGETS}
tf2::tf2
tf2_bullet::tf2_bullet
tf2_eigen::tf2_eigen
${tf2_geometry_msgs_TARGETS}
tf2_kdl::tf2_kdl)
if(TARGET Eigen3::Eigen)
# TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
target_link_libraries(test_convert Eigen3::Eigen)
else()
target_include_directories(test_convert PRIVATE ${Eigen3_INCLUDE_DIRS})
endif()
endif()
endif()

ament_add_gtest(test_utils test/test_utils.cpp)
if(TARGET test_utils)
target_link_libraries(test_utils
${geometry_msgs_TARGETS}
tf2::tf2
${tf2_geometry_msgs_TARGETS}
tf2_kdl::tf2_kdl)
endif()
ament_add_gtest(test_utils test/test_utils.cpp)
if(TARGET test_utils)
target_link_libraries(test_utils
${geometry_msgs_TARGETS}
tf2::tf2
${tf2_geometry_msgs_TARGETS}
tf2_kdl::tf2_kdl)
endif()

add_executable(test_buffer_server test/test_buffer_server.cpp)
if(TARGET test_buffer_server)
target_link_libraries(test_buffer_server
rclcpp::rclcpp
tf2_ros::tf2_ros)
endif()
add_executable(test_buffer_server test/test_buffer_server.cpp)
if(TARGET test_buffer_server)
target_link_libraries(test_buffer_server
rclcpp::rclcpp
tf2_ros::tf2_ros)
endif()

add_executable(test_buffer_client test/test_buffer_client.cpp)
if(TARGET test_buffer_client)
target_link_libraries(test_buffer_client
${GTEST_LIBRARIES}
rclcpp::rclcpp
tf2_bullet::tf2_bullet
${tf2_geometry_msgs_TARGETS}
tf2_kdl::tf2_kdl
tf2_ros::tf2_ros)
add_launch_test(test/buffer_client_tester.launch.py)
endif()
add_executable(test_buffer_client test/test_buffer_client.cpp)
if(TARGET test_buffer_client)
target_link_libraries(test_buffer_client
${GTEST_LIBRARIES}
rclcpp::rclcpp
tf2_bullet::tf2_bullet
${tf2_geometry_msgs_TARGETS}
tf2_kdl::tf2_kdl
tf2_ros::tf2_ros)
add_launch_test(test/buffer_client_tester.launch.py)
endif()

add_executable(test_static_publisher test/test_static_publisher.cpp)
if(TARGET test_static_publisher)
target_link_libraries(test_static_publisher
${GTEST_LIBRARIES}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
tf2::tf2
tf2_ros::tf2_ros)
add_launch_test(test/static_publisher.launch.py)
endif()
add_executable(test_static_publisher test/test_static_publisher.cpp)
if(TARGET test_static_publisher)
target_link_libraries(test_static_publisher
${GTEST_LIBRARIES}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
tf2::tf2
tf2_ros::tf2_ros)
add_launch_test(test/static_publisher.launch.py)
endif()

ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
if(TARGET test_tf2_bullet)
target_link_libraries(test_tf2_bullet
rclcpp::rclcpp
tf2_bullet::tf2_bullet
tf2_ros::tf2_ros
tf2::tf2)
endif()
ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
if(TARGET test_tf2_bullet)
target_link_libraries(test_tf2_bullet
rclcpp::rclcpp
tf2_bullet::tf2_bullet
tf2_ros::tf2_ros
tf2::tf2)
endif()

# TODO(ahcorde): enable once python part of tf2_geometry_msgs is working
# add_launch_test(test/test_buffer_client.launch.py)

# install executables
install(TARGETS
test_buffer_client
test_buffer_server
test_static_publisher
DESTINATION lib/${PROJECT_NAME}
)
install(PROGRAMS
test/test_buffer_client.py
DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS
test_buffer_client
test_buffer_server
test_static_publisher
DESTINATION lib/${PROJECT_NAME}
)
install(PROGRAMS
test/test_buffer_client.py
DESTINATION lib/${PROJECT_NAME}
)

endif()

ament_package()

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