Update tests and CMakeLists

Signed-off-by: methylDragon <methylDragon@gmail.com>
locusrobotics · Dec 8, 2022 · 720fb8c · 720fb8c
1 parent 3bfe0ca
commit 720fb8c
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Showing 5 changed files with 9 additions and 18 deletions.
diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
@@ -107,7 +107,7 @@ install(DIRECTORY include/
 
 ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET)
 ament_export_dependencies(
-  ament_cmake
+  ament_cmake_ros
   fuse_msgs
   pluginlib
   rcl_interfaces

diff --git a/fuse_graphs/CMakeLists.txt b/fuse_graphs/CMakeLists.txt
@@ -17,7 +17,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
 find_package(fuse_core REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -31,7 +31,7 @@ include(boost-extras.cmake)
 ###########
 
 ## fuse_graphs library
-add_library(${PROJECT_NAME} SHARED
+add_library(${PROJECT_NAME}
   src/hash_graph.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -82,14 +82,11 @@ install(DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
 )
 
-install(
-  FILES fuse_plugins.xml
-  DESTINATION share/${PROJECT_NAME}
-)
+pluginlib_export_plugin_description_file(fuse_core fuse_plugins.xml)
 
 ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET)
 ament_export_dependencies(
-  ament_cmake
+  ament_cmake_ros
   fuse_core
   pluginlib
   rclcpp

diff --git a/fuse_graphs/benchmark/example_variable.h b/fuse_graphs/benchmark/example_variable.h
@@ -34,9 +34,9 @@
 #ifndef FUSE_GRAPHS_TEST_EXAMPLE_VARIABLE_H  // NOLINT{build/header_guard}
 #define FUSE_GRAPHS_TEST_EXAMPLE_VARIABLE_H  // NOLINT{build/header_guard}
 
-#include <fuse_core/serialization.h>
-#include <fuse_core/uuid.h>
-#include <fuse_core/variable.h>
+#include <fuse_core/serialization.hpp>
+#include <fuse_core/uuid.hpp>
+#include <fuse_core/variable.hpp>
 
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/base_object.hpp>

diff --git a/fuse_graphs/test/test_hash_graph.cpp b/fuse_graphs/test/test_hash_graph.cpp
@@ -1018,9 +1018,3 @@ TEST_F(HashGraphTestFixture, GetConstraintCosts)
   ASSERT_EQ(costs[1].residuals.size(), 1u);
   EXPECT_NEAR(costs[1].residuals[0], 1.0, 1.0e-5);
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/fuse_loss/CMakeLists.txt b/fuse_loss/CMakeLists.txt
@@ -77,7 +77,7 @@ pluginlib_export_plugin_description_file(fuse_core fuse_plugins.xml)
 
 ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET)
 ament_export_dependencies(
-  ament_cmake
+  ament_cmake_ros
   fuse_core
   pluginlib
   Ceres