fixing the test utilities in moveit core #1409
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Of interest to @rhaschke and @BryceStevenWilley |
moveit_core/utils/CMakeLists.txt
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| set(MOVEIT_LIB_NAME moveit_utils) | |||
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| find_package(moveit_resources REQUIRED) | |||
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Lifting moveit_resources to the normal build, requires an appropriate dependency change in package.xml - one reason, why we decided to build this lib in testing mode only.
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Good point.
It seems to me that elevating moveit_resources to a normal dependency is inevitable if we want to be able to use libmoveit_test_utils outside of the moveit_core package. At that point, I'm not entirely sure we need moveit_test_utils to be separate from moveit_utils.
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libmoveit_test_utils should be definitely different from moveit_utils, as it depends on gtest!
One option to avoid the moveit_resources dependency, is to find another way (e.g. using rospack) to find the path to the moveit_resources package.
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The most recent commit keeps moveit_resources as a test_depend and replaces MOVEIT_TEST_RESOURCES_DIR with ros::packages::getPath(moveit_resources)
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Great work! If you replaced all occurrences of MOVEIT_TEST_RESOURCES_DIR, in future we might want to remove the corresponding generator code from cmake as well, which I always considered clumsy.
mlautman
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Great fixup Mike! |
* fixing the test utilities in moveit core * replacing MOVEIT_TEST_RESOURCES_DIR with getPath(moveit_resources)
This fixes an issue with the test utils where it was only getting built during testing and wasn't being exported as a library.
This enables moveit/moveit_tutorials#295 to build and run as expected