Trajectory processing, port to ROS 2 #63
Conversation
|
See #62 (comment) |
moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
Outdated
Show resolved
Hide resolved
| if(WIN32) | ||
| # set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>") | ||
| else() | ||
| set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../robot_trajectory;${CMAKE_CURRENT_BINARY_DIR}/../utils") |
There was a problem hiding this comment.
Hardcoding relative paths is a bad idea.
I would recommend that for every library in this package that is used else ware you set a <lib_name>_lib_dir environment variable that can then be used by the tests
A good example is the rcl_lib_dir I have taken the time to show how it is used below:
/home/mike/ws_ros2/src/ros2/rcl/rcl/CMakeLists.txt:
78
79: # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
80 # the librcl that they link against is on the library path.
81 # This is especially important on Windows.
82 # This is overwritten each loop, but which one it points to doesn't really matter.
83: set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
84
/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
16
17: set(extra_lib_dirs "${rcl_lib_dir}")
18
/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
34 rcl_add_custom_gtest(test_client${target_suffix}
35 SRCS rcl/test_client.cpp
36: INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
37 ENV ${rmw_implementation_env_var}
38 APPEND_LIBRARY_DIRS ${extra_lib_dirs}
The example uses rcl_add_custom_gtest but it works just as well with ament_add_gtest
There was a problem hiding this comment.
If you don't mind I prefer to merge this. And then I will fix them all together. Because we have other merged that use this style. I can open an issue to avoid forgetting it.
|
@davetcoleman @mlautman @henningkayser ready to merge |
|
@henningkayser or @davetcoleman can we merge this PR? |
* Add ROS2 compatible launch file and RViz config files for RViz quickstart tutorial * Update Quickstart in RViz tutorial and related images * Increase width of new image
No description provided.