Skip to content

Commit 44947ed

Browse files
mergify[bot]mergify[bot]
authored
Update CMakeLists.txt to use add_ros_isolated_launch_test (#926) (#927)
1 parent 4e41a74 commit 44947ed

File tree

28 files changed

+196
-74
lines changed

28 files changed

+196
-74
lines changed

‎example_1/CMakeLists.txt‎

Lines changed: 11 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_1
6464

6565
if(BUILD_TESTING)
6666
find_package(ament_cmake_pytest REQUIRED)
67-
6867
ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py)
69-
ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py)
70-
ament_add_pytest_test(run_example_1_launch test/test_rrbot_launch.py)
71-
ament_add_pytest_test(run_example_1_launch_cli_direct test/test_rrbot_launch_cli_direct.py)
68+
69+
# Integration (launch) tests
70+
find_package(ament_cmake_ros REQUIRED)
71+
find_package(launch_testing_ament_cmake REQUIRED)
72+
function(add_ros_isolated_launch_test path)
73+
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
74+
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
75+
endfunction()
76+
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
77+
add_ros_isolated_launch_test(test/test_rrbot_launch.py)
78+
add_ros_isolated_launch_test(test/test_rrbot_launch_cli_direct.py)
7279
endif()
7380

7481

‎example_1/package.xml‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,8 +37,10 @@
3737
<exec_depend>xacro</exec_depend>
3838

3939
<test_depend>ament_cmake_pytest</test_depend>
40-
<test_depend>controller_manager</test_depend>
41-
<test_depend>launch_testing_ros</test_depend>
40+
<test_depend>ament_cmake_ros</test_depend>
41+
<test_depend>launch_testing_ament_cmake</test_depend>
42+
<test_depend>launch_testing</test_depend>
43+
<test_depend>launch</test_depend>
4244
<test_depend>liburdfdom-tools</test_depend>
4345
<test_depend>xacro</test_depend>
4446

‎example_10/CMakeLists.txt‎

Lines changed: 10 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -66,10 +66,17 @@ install(TARGETS ros2_control_demo_example_10
6666

6767
if(BUILD_TESTING)
6868
find_package(ament_cmake_pytest REQUIRED)
69-
7069
ament_add_pytest_test(example_10_urdf_xacro test/test_urdf_xacro.py)
71-
ament_add_pytest_test(view_example_10_launch test/test_view_robot_launch.py)
72-
ament_add_pytest_test(run_example_10_launch test/test_rrbot_launch.py)
70+
71+
# Integration (launch) tests
72+
find_package(ament_cmake_ros REQUIRED)
73+
find_package(launch_testing_ament_cmake REQUIRED)
74+
function(add_ros_isolated_launch_test path)
75+
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
76+
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
77+
endfunction()
78+
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
79+
add_ros_isolated_launch_test(test/test_rrbot_launch.py)
7380
endif()
7481

7582
## EXPORTS

‎example_10/package.xml‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,8 +36,10 @@
3636
<exec_depend>xacro</exec_depend>
3737

3838
<test_depend>ament_cmake_pytest</test_depend>
39-
<test_depend>controller_manager</test_depend>
40-
<test_depend>launch_testing_ros</test_depend>
39+
<test_depend>ament_cmake_ros</test_depend>
40+
<test_depend>launch_testing_ament_cmake</test_depend>
41+
<test_depend>launch_testing</test_depend>
42+
<test_depend>launch</test_depend>
4143
<test_depend>liburdfdom-tools</test_depend>
4244
<test_depend>xacro</test_depend>
4345

‎example_11/CMakeLists.txt‎

Lines changed: 11 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -64,11 +64,18 @@ install(TARGETS ros2_control_demo_example_11
6464

6565
if(BUILD_TESTING)
6666
find_package(ament_cmake_pytest REQUIRED)
67-
6867
ament_add_pytest_test(example_11_urdf_xacro test/test_urdf_xacro.py)
69-
ament_add_pytest_test(view_example_11_launch test/test_view_robot_launch.py)
70-
ament_add_pytest_test(run_example_11_launch test/test_carlikebot_launch.py)
71-
ament_add_pytest_test(run_example_11_launch_remapped test/test_carlikebot_launch_remapped.py)
68+
69+
# Integration (launch) tests
70+
find_package(ament_cmake_ros REQUIRED)
71+
find_package(launch_testing_ament_cmake REQUIRED)
72+
function(add_ros_isolated_launch_test path)
73+
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
74+
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
75+
endfunction()
76+
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
77+
add_ros_isolated_launch_test(test/test_carlikebot_launch.py)
78+
add_ros_isolated_launch_test(test/test_carlikebot_launch_remapped.py)
7279
endif()
7380

7481
## EXPORTS

‎example_11/package.xml‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,8 @@
3434
<exec_depend>xacro</exec_depend>
3535

3636
<test_depend>ament_cmake_pytest</test_depend>
37-
<test_depend>controller_manager</test_depend>
37+
<test_depend>ament_cmake_ros</test_depend>
38+
<test_depend>launch_testing_ament_cmake</test_depend>
3839
<test_depend>launch_testing_ros</test_depend>
3940
<test_depend>launch_testing</test_depend>
4041
<test_depend>launch</test_depend>

‎example_12/CMakeLists.txt‎

Lines changed: 10 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -102,10 +102,17 @@ install(TARGETS
102102

103103
if(BUILD_TESTING)
104104
find_package(ament_cmake_pytest REQUIRED)
105-
106105
ament_add_pytest_test(example_12_urdf_xacro test/test_urdf_xacro.py)
107-
ament_add_pytest_test(view_example_12_launch test/test_view_robot_launch.py)
108-
ament_add_pytest_test(run_example_12_launch test/test_rrbot_launch.py)
106+
107+
# Integration (launch) tests
108+
find_package(ament_cmake_ros REQUIRED)
109+
find_package(launch_testing_ament_cmake REQUIRED)
110+
function(add_ros_isolated_launch_test path)
111+
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
112+
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
113+
endfunction()
114+
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
115+
add_ros_isolated_launch_test(test/test_rrbot_launch.py)
109116
endif()
110117

111118
## EXPORTS

‎example_12/package.xml‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,8 +36,10 @@
3636
<exec_depend>xacro</exec_depend>
3737

3838
<test_depend>ament_cmake_pytest</test_depend>
39-
<test_depend>controller_manager</test_depend>
40-
<test_depend>launch_testing_ros</test_depend>
39+
<test_depend>ament_cmake_ros</test_depend>
40+
<test_depend>launch_testing_ament_cmake</test_depend>
41+
<test_depend>launch_testing</test_depend>
42+
<test_depend>launch</test_depend>
4143
<test_depend>liburdfdom-tools</test_depend>
4244
<test_depend>xacro</test_depend>
4345

‎example_14/CMakeLists.txt‎

Lines changed: 10 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -66,10 +66,17 @@ install(TARGETS ros2_control_demo_example_14
6666

6767
if(BUILD_TESTING)
6868
find_package(ament_cmake_pytest REQUIRED)
69-
7069
ament_add_pytest_test(example_14_urdf_xacro test/test_urdf_xacro.py)
71-
ament_add_pytest_test(view_example_14_launch test/test_view_robot_launch.py)
72-
ament_add_pytest_test(run_example_14_launch test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py)
70+
71+
# Integration (launch) tests
72+
find_package(ament_cmake_ros REQUIRED)
73+
find_package(launch_testing_ament_cmake REQUIRED)
74+
function(add_ros_isolated_launch_test path)
75+
set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
76+
add_launch_test("${path}" RUNNER "${RUNNER}" ${ARGN})
77+
endfunction()
78+
add_ros_isolated_launch_test(test/test_view_robot_launch.py)
79+
add_ros_isolated_launch_test(test/test_rrbot_modular_actuators_without_feedback_sensors_for_position_feedback_launch.py)
7380
endif()
7481

7582
## EXPORTS

‎example_14/package.xml‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -33,8 +33,10 @@
3333
<exec_depend>xacro</exec_depend>
3434

3535
<test_depend>ament_cmake_pytest</test_depend>
36-
<test_depend>controller_manager</test_depend>
37-
<test_depend>launch_testing_ros</test_depend>
36+
<test_depend>ament_cmake_ros</test_depend>
37+
<test_depend>launch_testing_ament_cmake</test_depend>
38+
<test_depend>launch_testing</test_depend>
39+
<test_depend>launch</test_depend>
3840
<test_depend>liburdfdom-tools</test_depend>
3941
<test_depend>xacro</test_depend>
4042

0 commit comments

Comments
 (0)