Cleanup collision_distance_field test dependencies (moveit#465)

DLu · May 28, 2021 · db7f2ba · db7f2ba
1 parent 4b4a94f
commit db7f2ba
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Showing 2 changed files with 10 additions and 13 deletions.
diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -29,24 +29,22 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(resource_retriever REQUIRED)
 
-  if(WIN32)
-    # TODO add windows paths
-  else()
-    set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../planning_scene;${CMAKE_CURRENT_BINARY_DIR}/../distance_field;${CMAKE_CURRENT_BINARY_DIR}/../collision_detection;${CMAKE_CURRENT_BINARY_DIR}/../robot_state;${CMAKE_CURRENT_BINARY_DIR}/../robot_model;${CMAKE_CURRENT_BINARY_DIR}/../utils")
-  endif()
-
   ament_add_gtest(test_collision_distance_field test/test_collision_distance_field.cpp)
+  ament_target_dependencies(test_collision_distance_field
+    Boost
+    geometric_shapes
+    OCTOMAP
+    srdfdom
+    resource_retriever
+  )
   target_link_libraries(test_collision_distance_field
     ${MOVEIT_LIB_NAME}
     moveit_collision_detection
-    moveit_collision_distance_field
+    moveit_distance_field
+    moveit_robot_model
     moveit_robot_state
     moveit_test_utils
-    ${geometric_shapes_LIBRARIES}
-    ${OCTOMAP_LIBRARIES}
-    ${srdfdom_LIBRARIES}
-    resource_retriever::resource_retriever
-    moveit_distance_field
+    moveit_transforms
     moveit_planning_scene
   )
 endif()
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -49,7 +49,6 @@
 #include <sstream>
 #include <algorithm>
 #include <ctype.h>
-#include <boost/filesystem.hpp>
 
 typedef collision_detection::CollisionEnvDistanceField DefaultCEnvType;