Fixing and cleaning up interface tests (#754)

* Fixing and cleaning up interface tests
cra-ros-pkg · May 12, 2022 · 3d896b9 · 3d896b9
1 parent bbe57d4
commit 3d896b9
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Showing 7 changed files with 344 additions and 1,608 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -198,20 +198,30 @@ if(BUILD_TESTING)
   rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
   target_link_libraries(test_ekf "${cpp_typesupport_target}")
 
-  ament_add_gtest_executable(test_ekf_localization_node_interfaces
-                    test/test_ekf_localization_node_interfaces.cpp)
-  target_link_libraries(test_ekf_localization_node_interfaces ${library_name})
-
-  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-  target_link_libraries(test_ekf_localization_node_interfaces "${cpp_typesupport_target}")
-
-  add_dependencies(test_ekf_localization_node_interfaces ekf_node)
-  ament_add_test(test_ekf_localization_node_interfaces
+  ament_add_gtest_executable(
+    test_ekf_node_interfaces
+    test/test_se_node_interfaces.cpp)
+  target_link_libraries(
+    test_ekf_node_interfaces
+    ${library_name})
+
+  rosidl_get_typesupport_target(
+    cpp_typesupport_target
+    "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(
+    test_ekf_node_interfaces
+    "${cpp_typesupport_target}")
+
+  add_dependencies(
+    test_ekf_node_interfaces
+    ekf_node)
+  ament_add_test(
+    test_ekf_node_interfaces
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
     TIMEOUT 300
-    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_ekf_localization_node_interfaces.launch.py"
-  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  )
+    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_se_node_interfaces.launch.py"
+    ENV NODE_TYPE=ekf
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
 
   #### UKF TESTS #####
   ament_add_gtest(test_ukf test/test_ukf.cpp)
@@ -220,20 +230,30 @@ if(BUILD_TESTING)
   rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
   target_link_libraries(test_ukf "${cpp_typesupport_target}")
 
-  ament_add_gtest_executable(test_ukf_localization_node_interfaces
-                    test/test_ukf_localization_node_interfaces.cpp)
-  target_link_libraries(test_ukf_localization_node_interfaces ${library_name})
-
-  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-  target_link_libraries(test_ukf_localization_node_interfaces "${cpp_typesupport_target}")
-
-  add_dependencies(test_ukf_localization_node_interfaces ukf_node)
-  ament_add_test(test_ukf_localization_node_interfaces
+  ament_add_gtest_executable(
+    test_ukf_node_interfaces
+    test/test_se_node_interfaces.cpp)
+  target_link_libraries(
+    test_ukf_node_interfaces
+    ${library_name})
+
+  rosidl_get_typesupport_target(
+    cpp_typesupport_target
+    "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(
+    test_ukf_node_interfaces
+    "${cpp_typesupport_target}")
+
+  add_dependencies(
+    test_ukf_node_interfaces
+    ukf_node)
+  ament_add_test(
+    test_ukf_node_interfaces
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
     TIMEOUT 300
-    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_ukf_localization_node_interfaces.launch.py"
-  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  )
+    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test/test_se_node_interfaces.launch.py"
+    ENV NODE_TYPE=ukf
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
 
   #### DATA TESTS #####
 #  ament_add_gtest(test_ekf_localization_node_bag1 test/test_localization_node_bag_pose_tester.cpp)
@@ -294,9 +314,9 @@ if(BUILD_TESTING)
     filter_base-test
     test_filter_base_diagnostics_timestamps
     test_ekf
-    test_ekf_localization_node_interfaces
+    test_ekf_node_interfaces
     test_ukf
-    test_ukf_localization_node_interfaces
+    test_ukf_node_interfaces
     #test_ekf_localization_node_bag1
     #test_ekf_localization_node_bag2
     #test_ekf_localization_node_bag3