Improve modularity of ign/ros publisher tests (#194)

Signed-off-by: Michael Carroll <michael@openrobotics.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Feb 7, 2022 · cf6a2d6 · cf6a2d6
1 parent 2587cca
commit cf6a2d6
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Showing 11 changed files with 2,759 additions and 2,434 deletions.
diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt
@@ -146,27 +146,20 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
   ament_find_gtest()
 
-  add_executable(test_ros_publisher test/publishers/ros_publisher.cpp)
-  ament_target_dependencies(test_ros_publisher
-    geometry_msgs
-    nav_msgs
-    rclcpp
-    ros_ign_interfaces
-    rosgraph_msgs
-    sensor_msgs
-    std_msgs
-    tf2_msgs
-    trajectory_msgs
+  add_library(test_utils
+    test/utils/ign_test_msg.cpp
+    test/utils/ros_test_msg.cpp
+  )
+
+  target_include_directories(test_utils
+    PUBLIC test ${GTEST_INCLUDE_DIRS}
   )
-  target_link_libraries(test_ros_publisher
+  target_link_libraries(test_utils
     ${GTEST_LIBRARIES}
     ignition-msgs${IGN_MSGS_VER}::core
     ignition-transport${IGN_TRANSPORT_VER}::core
   )
-  target_include_directories(test_ros_publisher PUBLIC ${GTEST_INCLUDE_DIRS})
-
-  add_executable(test_ros_subscriber test/subscribers/ros_subscriber.cpp)
-  ament_target_dependencies(test_ros_subscriber
+  ament_target_dependencies(test_utils
     geometry_msgs
     nav_msgs
     rclcpp
@@ -178,36 +171,17 @@ if(BUILD_TESTING)
     trajectory_msgs
   )
 
-  target_link_libraries(test_ros_subscriber
-    ${GTEST_LIBRARIES}
-    ignition-msgs${IGN_MSGS_VER}::core
-    ignition-transport${IGN_TRANSPORT_VER}::core
-  )
-  target_include_directories(test_ros_subscriber PUBLIC ${GTEST_INCLUDE_DIRS})
+  add_executable(test_ros_publisher test/publishers/ros_publisher.cpp)
+  target_link_libraries(test_ros_publisher test_utils)
+
+  add_executable(test_ros_subscriber test/subscribers/ros_subscriber.cpp)
+  target_link_libraries(test_ros_subscriber test_utils)
 
   add_executable(test_ign_publisher test/publishers/ign_publisher.cpp)
-  ament_target_dependencies(test_ign_publisher
-    ros_ign_interfaces
-    rclcpp
-  )
-  target_link_libraries(test_ign_publisher
-    ${GTEST_LIBRARIES}
-    ignition-msgs${IGN_MSGS_VER}::core
-    ignition-transport${IGN_TRANSPORT_VER}::core
-  )
-  target_include_directories(test_ign_publisher PUBLIC ${GTEST_INCLUDE_DIRS})
+  target_link_libraries(test_ign_publisher test_utils)
 
   add_executable(test_ign_subscriber test/subscribers/ign_subscriber.cpp)
-  ament_target_dependencies(test_ign_subscriber
-    ros_ign_interfaces
-    rclcpp
-  )
-  target_link_libraries(test_ign_subscriber
-    ${GTEST_LIBRARIES}
-    ignition-msgs${IGN_MSGS_VER}::core
-    ignition-transport${IGN_TRANSPORT_VER}::core
-  )
-  target_include_directories(test_ign_subscriber PUBLIC ${GTEST_INCLUDE_DIRS})
+  target_link_libraries(test_ign_subscriber test_utils)
 
   install(TARGETS
     test_ros_publisher

diff --git a/ros_ign_bridge/test/publishers/ign_publisher.cpp b/ros_ign_bridge/test/publishers/ign_publisher.cpp
@@ -22,7 +22,8 @@
 #include <string>
 #include <thread>
 
-#include "../test_utils.hpp"
+#include "utils/test_utils.hpp"
+#include "utils/ign_test_msg.hpp"
 
 /// \brief Flag used to break the publisher loop and terminate the program.
 static std::atomic<bool> g_terminatePub(false);

diff --git a/ros_ign_bridge/test/publishers/ros_publisher.cpp b/ros_ign_bridge/test/publishers/ros_publisher.cpp
@@ -12,37 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/quaternion.hpp>
-#include <geometry_msgs/msg/transform.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <geometry_msgs/msg/twist.hpp>
-#include <geometry_msgs/msg/vector3.hpp>
-// #include <mav_msgs/msg/actuators.hpp>
-#include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <ros_ign_interfaces/msg/light.hpp>
-#include <rosgraph_msgs/msg/clock.hpp>
-#include <sensor_msgs/msg/battery_state.hpp>
-#include <sensor_msgs/msg/camera_info.hpp>
-#include <sensor_msgs/msg/fluid_pressure.hpp>
-#include <sensor_msgs/msg/image.hpp>
-#include <sensor_msgs/msg/imu.hpp>
-#include <sensor_msgs/msg/joint_state.hpp>
-#include <sensor_msgs/msg/laser_scan.hpp>
-#include <sensor_msgs/msg/magnetic_field.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <std_msgs/msg/bool.hpp>
-#include <std_msgs/msg/color_rgba.hpp>
-#include <std_msgs/msg/empty.hpp>
-#include <std_msgs/msg/float32.hpp>
-#include <std_msgs/msg/float64.hpp>
-#include <std_msgs/msg/header.hpp>
-#include <std_msgs/msg/string.hpp>
-#include <tf2_msgs/msg/tf_message.hpp>
-#include <trajectory_msgs/msg/joint_trajectory.hpp>
-#include "../test_utils.hpp"
+#include "utils/test_utils.hpp"
+#include "utils/ros_test_msg.hpp"
 
 //////////////////////////////////////////////////
 int main(int argc, char ** argv)

diff --git a/ros_ign_bridge/test/subscribers/ign_subscriber.cpp b/ros_ign_bridge/test/subscribers/ign_subscriber.cpp
@@ -19,7 +19,9 @@
 #include <chrono>
 #include <memory>
 #include <string>
-#include "../test_utils.hpp"
+
+#include "utils/test_utils.hpp"
+#include "utils/ign_test_msg.hpp"
 
 //////////////////////////////////////////////////
 /// \brief A class for testing Ignition Transport topic subscription.

diff --git a/ros_ign_bridge/test/subscribers/ros_subscriber.cpp b/ros_ign_bridge/test/subscribers/ros_subscriber.cpp
@@ -13,40 +13,15 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+
+#include <rclcpp/rclcpp.hpp>
+
 #include <chrono>
 #include <memory>
 #include <string>
 
-#include "geometry_msgs/msg/pose.hpp"
-#include "geometry_msgs/msg/pose_stamped.hpp"
-#include "geometry_msgs/msg/quaternion.hpp"
-#include "geometry_msgs/msg/transform.hpp"
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "geometry_msgs/msg/twist.hpp"
-#include "geometry_msgs/msg/vector3.hpp"
-#include "nav_msgs/msg/odometry.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "ros_ign_interfaces/msg/light.hpp"
-#include "rosgraph_msgs/msg/clock.hpp"
-#include "sensor_msgs/msg/battery_state.hpp"
-#include "sensor_msgs/msg/camera_info.hpp"
-#include "sensor_msgs/msg/fluid_pressure.hpp"
-#include "sensor_msgs/msg/image.hpp"
-#include "sensor_msgs/msg/imu.hpp"
-#include "sensor_msgs/msg/joint_state.hpp"
-#include "sensor_msgs/msg/laser_scan.hpp"
-#include "sensor_msgs/msg/magnetic_field.hpp"
-#include "sensor_msgs/msg/point_cloud2.hpp"
-#include "std_msgs/msg/bool.hpp"
-#include "std_msgs/msg/color_rgba.hpp"
-#include "std_msgs/msg/empty.hpp"
-#include "std_msgs/msg/float32.hpp"
-#include "std_msgs/msg/header.hpp"
-#include "std_msgs/msg/string.hpp"
-#include "tf2_msgs/msg/tf_message.hpp"
-#include "trajectory_msgs/msg/joint_trajectory.hpp"
-
-#include "../test_utils.hpp"
+#include "utils/test_utils.hpp"
+#include "utils/ros_test_msg.hpp"
 
 using std::placeholders::_1;