Update default_plugins.xml

[hangst]

Fix library path for ROS2 Foxy

[hangst]

Running chain_test results in this.

Starting >>> filters 
Finished <<< filters [0.42s]                    

Summary: 1 package finished [0.63s]
Running main() from /opt/ros/foxy/src/gtest_vendor/src/gtest_main.cc
[==========] Running 9 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 9 tests from ChainTest
[ RUN      ] ChainTest.multi_channel_configuring
[WARN] [1603857369.208529188] [pluginlib.ClassLoader]: given plugin name 'lib/libmean' should be '/libmean' for better portability
[FATAL] [1603857369.208748312] [chain_test]: Could not load library for filters/MultiChannelMeanFilterDouble: Could not find library corresponding to plugin filters/MultiChannelMeanFilterDouble. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:72: Failure
Value of: chain.configure( 5, "MultiChannelMeanFilterDouble5", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.multi_channel_configuring (15 ms)
[ RUN      ] ChainTest.configuring
[WARN] [1603857369.213782242] [pluginlib.ClassLoader]: given plugin name 'lib/libmean' should be '/libmean' for better portability
[FATAL] [1603857369.213952212] [chain_test]: Could not load library for filters/MeanFilterFloat: Could not find library corresponding to plugin filters/MeanFilterFloat. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:102: Failure
Value of: chain.configure( "MeanFilterFloat5", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.configuring (5 ms)
[ RUN      ] ChainTest.MisconfiguredNumberOfChannels
[WARN] [1603857369.217942580] [pluginlib.ClassLoader]: given plugin name 'lib/libmedian' should be '/libmedian' for better portability
[FATAL] [1603857369.218110646] [chain_test]: Could not load library for filters/MultiChannelMedianFilterDouble: Could not find library corresponding to plugin filters/MultiChannelMedianFilterDouble. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:132: Failure
Value of: chain.configure( 10, "MultiChannelMedianFilterDouble5", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.MisconfiguredNumberOfChannels (4 ms)
[ RUN      ] ChainTest.MultiChannelTwoFilters
[WARN] [1603857369.222306976] [pluginlib.ClassLoader]: given plugin name 'lib/libmedian' should be '/libmedian' for better portability
[FATAL] [1603857369.222478905] [chain_test]: Could not load library for filters/MultiChannelMedianFilterDouble: Could not find library corresponding to plugin filters/MultiChannelMedianFilterDouble. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:162: Failure
Value of: chain.configure( 5, "TwoFilters", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.MultiChannelTwoFilters (4 ms)
[ RUN      ] ChainTest.TransferFunction
[WARN] [1603857369.226757612] [pluginlib.ClassLoader]: given plugin name 'lib/libtransfer_function' should be '/libtransfer_function' for better portability
[FATAL] [1603857369.226950155] [chain_test]: Could not load library for filters/MultiChannelTransferFunctionFilterDouble: Could not find library corresponding to plugin filters/MultiChannelTransferFunctionFilterDouble. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:201: Failure
Value of: chain.configure( 3, "TransferFunction", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.TransferFunction (5 ms)
[ RUN      ] ChainTest.ReconfiguringChain
[WARN] [1603857369.231238166] [pluginlib.ClassLoader]: given plugin name 'lib/libincrement' should be '/libincrement' for better portability
[FATAL] [1603857369.231424775] [chain_test]: Could not load library for filters/IncrementFilterInt: Could not find library corresponding to plugin filters/IncrementFilterInt. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:270: Failure
Value of: chain.configure( "OneIncrements", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.ReconfiguringChain (4 ms)
[ RUN      ] ChainTest.ThreeIncrementChains
[WARN] [1603857369.235616770] [pluginlib.ClassLoader]: given plugin name 'lib/libincrement' should be '/libincrement' for better portability
[FATAL] [1603857369.235803722] [chain_test]: Could not load library for filters/IncrementFilterInt: Could not find library corresponding to plugin filters/IncrementFilterInt. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:298: Failure
Value of: chain.configure( "ThreeIncrements", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.ThreeIncrementChains (5 ms)
[ RUN      ] ChainTest.TenIncrementChains
[WARN] [1603857369.240544649] [pluginlib.ClassLoader]: given plugin name 'lib/libincrement' should be '/libincrement' for better portability
[FATAL] [1603857369.240718193] [chain_test]: Could not load library for filters/IncrementFilterInt: Could not find library corresponding to plugin filters/IncrementFilterInt. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:334: Failure
Value of: chain.configure( "TenIncrements", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.TenIncrementChains (4 ms)
[ RUN      ] ChainTest.TenMultiChannelIncrementChains
[WARN] [1603857369.245279426] [pluginlib.ClassLoader]: given plugin name 'lib/libincrement' should be '/libincrement' for better portability
[FATAL] [1603857369.245449261] [chain_test]: Could not load library for filters/MultiChannelIncrementFilterInt: Could not find library corresponding to plugin filters/MultiChannelIncrementFilterInt. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
.../filters/test/test_chain.cpp:392: Failure
Value of: chain.configure( 3, "TenMultiChannelIncrements", node->get_node_logging_interface(), node->get_node_parameters_interface())
  Actual: false
Expected: true
[  FAILED  ] ChainTest.TenMultiChannelIncrementChains (5 ms)
[----------] 9 tests from ChainTest (51 ms total)

[----------] Global test environment tear-down
[==========] 9 tests from 1 test case ran. (51 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 9 tests, listed below:
[  FAILED  ] ChainTest.multi_channel_configuring
[  FAILED  ] ChainTest.configuring
[  FAILED  ] ChainTest.MisconfiguredNumberOfChannels
[  FAILED  ] ChainTest.MultiChannelTwoFilters
[  FAILED  ] ChainTest.TransferFunction
[  FAILED  ] ChainTest.ReconfiguringChain
[  FAILED  ] ChainTest.ThreeIncrementChains
[  FAILED  ] ChainTest.TenIncrementChains
[  FAILED  ] ChainTest.TenMultiChannelIncrementChains

 9 FAILED TESTS

After removing lib/lib

Starting >>> filters 
Finished <<< filters [0.41s]                     

Summary: 1 package finished [0.51s]
Running main() from /opt/ros/foxy/src/gtest_vendor/src/gtest_main.cc
[==========] Running 9 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 9 tests from ChainTest
[ RUN      ] ChainTest.multi_channel_configuring
[       OK ] ChainTest.multi_channel_configuring (21 ms)
[ RUN      ] ChainTest.configuring
[       OK ] ChainTest.configuring (8 ms)
[ RUN      ] ChainTest.MisconfiguredNumberOfChannels
[       OK ] ChainTest.MisconfiguredNumberOfChannels (7 ms)
[ RUN      ] ChainTest.MultiChannelTwoFilters
[       OK ] ChainTest.MultiChannelTwoFilters (7 ms)
[ RUN      ] ChainTest.TransferFunction
[       OK ] ChainTest.TransferFunction (7 ms)
[ RUN      ] ChainTest.ReconfiguringChain
[       OK ] ChainTest.ReconfiguringChain (7 ms)
[ RUN      ] ChainTest.ThreeIncrementChains
[       OK ] ChainTest.ThreeIncrementChains (6 ms)
[ RUN      ] ChainTest.TenIncrementChains
[       OK ] ChainTest.TenIncrementChains (9 ms)
[ RUN      ] ChainTest.TenMultiChannelIncrementChains
[       OK ] ChainTest.TenMultiChannelIncrementChains (8 ms)
[----------] 9 tests from ChainTest (80 ms total)

[----------] Global test environment tear-down
[==========] 9 tests from 1 test case ran. (80 ms total)
[  PASSED  ] 9 tests.

[jonbinney]

@tfoote laser_filters needs this fix and #46 before it can compile on foxy.

[jonbinney]

+1 for this - without this change laser_filters can't load these plugins on ros2.

[jonbinney]

Tested with laser_filters and this works!