Porting test_tf2

test_tf2/CMakeLists.txt

@@ -1,62 +1,131 @@
 cmake_minimum_required(VERSION 3.5)
 
-if(NOT CATKIN_ENABLE_TESTING)
+if(NOT BUILD_TESTING)
   return()
 endif()
 
-project(test_tf2)
-
-
-find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs)
-find_package(Boost REQUIRED COMPONENTS thread)
-find_package(orocos_kdl REQUIRED)
-
-
-include_directories(${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS})
-
-link_directories(${orocos_kdl_LIBRARY_DIRS})
-
-catkin_package()
-
-catkin_add_gtest(buffer_core_test test/buffer_core_test.cpp)
-target_link_libraries(buffer_core_test ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
-
-catkin_add_gtest(test_tf2_message_filter test/test_message_filter.cpp)
-target_link_libraries(test_tf2_message_filter ${Boost_LIBRARIES} ${catkin_LIBRARIES})
-
-catkin_add_gtest(test_convert test/test_convert.cpp)
-target_link_libraries(test_convert ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
-
-catkin_add_gtest(test_utils test/test_utils.cpp)
-target_link_libraries(test_utils ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
+set(CMAKE_CXX_STANDARD 14)
 
-add_executable(test_buffer_server EXCLUDE_FROM_ALL test/test_buffer_server.cpp)
-target_link_libraries(test_buffer_server ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
-
-add_executable(test_buffer_client EXCLUDE_FROM_ALL test/test_buffer_client.cpp)
-target_link_libraries(test_buffer_client ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES})
-
-
-add_rostest(test/buffer_client_tester.launch)
-
-add_executable(test_static_publisher EXCLUDE_FROM_ALL test/test_static_publisher.cpp)
-target_link_libraries(test_static_publisher ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
-
-add_rostest(test/static_publisher.launch)
-
-
-add_executable(test_tf2_bullet EXCLUDE_FROM_ALL test/test_tf2_bullet.cpp)
-target_link_libraries(test_tf2_bullet ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+project(test_tf2)
 
-add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_bullet.launch)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_gtest REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(launch_testing_ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(tf2 REQUIRED)
+# TODO (ahcorde): activate when tf2_bullet is merged
+# find_package(tf2_bullet REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_kdl REQUIRED)
+
+ament_find_gtest()
+
+include_directories(${GTEST_INCLUDE_DIRS})
+
+# TODO (ahcorde): activate when tf2_bullet is merged
+# find_package(PkgConfig REQUIRED)
+# pkg_check_modules(bullet REQUIRED bullet)
+# include_directories(include ${bullet_INCLUDE_DIRS})
+
+ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
+if(TARGET buffer_core_test)
+  ament_target_dependencies(buffer_core_test
+    rclcpp
+    tf2
+    tf2_geometry_msgs
+  )
+endif()
 
+ament_add_gtest(test_message_filter test/test_message_filter.cpp)
+if(TARGET test_message_filter)
+  ament_target_dependencies(test_message_filter
+    geometry_msgs
+    rclcpp
+    tf2
+    tf2_ros
+  )
+endif()
 
-if(TARGET tests)
-  add_dependencies(tests test_buffer_server test_buffer_client test_static_publisher test_tf2_bullet)
+# TODO (ahcorde): activate when tf2_bullet is merged
+# ament_add_gtest(test_convert test/test_convert.cpp)
+# if(TARGET test_convert)
+#   ament_target_dependencies(test_convert
+#     tf2
+#     tf2_bullet
+#   )
+# endif()
+
+ament_add_gtest(test_utils test/test_utils.cpp)
+if(TARGET test_utils)
+  ament_target_dependencies(test_utils
+    tf2
+    tf2_geometry_msgs
+    tf2_kdl
+  )
 endif()
 
+# TODO (ahcorde): activate when tf2_bullet is merged
+# add_executable(test_buffer_server test/test_buffer_server.cpp)
+# if(TARGET test_buffer_server)
+#   ament_target_dependencies(test_buffer_server
+#     rclcpp
+#     rclcpp_action
+#     tf2_bullet
+#     tf2_ros
+#   )
+# endif()
+
+# TODO (ahcorde): activate when tf2_bullet is merged
+# add_executable(test_buffer_client test/test_buffer_client.cpp)
+# if(TARGET test_buffer_client)
+#   ament_target_dependencies(test_buffer_client
+#     rclcpp
+#     rclcpp_action
+#     tf2_bullet
+#     tf2_kdl
+#     tf2_ros
+#   )
+#   target_link_libraries(test_buffer_client ${GTEST_LIBRARIES})
+#   add_launch_test(test/buffer_client_tester.launch.py)
+# endif()
+
+add_executable(test_static_publisher test/test_static_publisher.cpp)
+if(TARGET test_static_publisher)
+  ament_target_dependencies(test_static_publisher
+    tf2_ros
+    rclcpp
+    rclcpp_action
+  )
+  target_link_libraries(test_static_publisher ${GTEST_LIBRARIES})
+  add_launch_test(test/static_publisher.launch.py)
+endif()
 
-# used as a test fixture
-if(TARGET tf2_ros_static_transform_publisher)
-  add_dependencies(tests tf2_ros_static_transform_publisher test_static_publisher)
-endif()
+# TODO (ahcorde): activate when tf2_bullet is merged
+# ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
+# if(TARGET test_tf2_bullet)
+#   ament_target_dependencies(test_tf2_bullet
+#       rclcpp
+#       rclcpp_action
+#       tf2_bullet
+#       tf2_ros
+#   )
+# endif()
+#
+# add_launch_test(test/test_buffer_client.launch.py)
+# add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_bullet.launch)
+
+# install executables
+install(TARGETS
+  # test_buffer_client
+  # test_buffer_server
+  test_static_publisher
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(PROGRAMS
+  test/test_buffer_client.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

test_tf2/package.xml

@@ -1,6 +1,6 @@
-<package>
+<package format="2">
   <name>test_tf2</name>
-  <version>0.9.1</version>
+  <version>0.12.4</version>
   <description>
     tf2 unit tests
   </description>
@@ -10,34 +10,24 @@
   <license>BSD</license>
 
   <url type="website">http://www.ros.org/wiki/geometry_experimental</url>
-
-  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>rosconsole</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rostest</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_bullet</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>tf2_kdl</build_depend>
-  <build_depend>tf2_msgs</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <run_depend>rosconsole</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rostest</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>tf2_bullet</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>tf2_geometry_msgs</run_depend>
-  <run_depend>tf2_kdl</run_depend>
-  <run_depend>tf2_msgs</run_depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rcpputils</depend>
+  <depend>rcutils</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_kdl</depend>
+  <depend>tf2_ros</depend>
+  <depend>launch_ros</depend>
 
-  <test_depend>rosunit</test_depend>
-  <test_depend>rosbash</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
-
-

test_tf2/test/buffer_client_tester.launch.py

@@ -0,0 +1,54 @@
+# generated from buildfarm_perf_tests/test/test_performance.py.in
+# generated code does not contain a copyright notice
+
+import unittest
+
+from launch import LaunchDescription
+import launch
+from launch_ros.actions import Node
+import launch_testing
+from launch.substitutions import LaunchConfiguration
+
+def generate_test_description(ready_fn):
+    node_under_test = Node(
+        package='test_tf2',
+        node_executable='test_buffer_client',
+        output='screen',
+        arguments=[],
+    )
+    node_static_transform_publisher = Node(
+        package='tf2_ros',
+        node_executable='static_transform_publisher',
+        output='screen',
+        arguments=["5", "6", "7", "0", "0", "0", "1", "a", "b"]
+    )
+
+    node_buffer_server = Node(
+        package='test_tf2',
+        node_executable='test_buffer_server',
+        output='screen',
+        arguments=[],
+        sigterm_timeout=LaunchConfiguration('sigterm_timeout', default=2)
+    )
+    return LaunchDescription([
+        node_static_transform_publisher,
+        node_buffer_server,
+        node_under_test,
+        launch_testing.util.KeepAliveProc(),
+        launch.actions.OpaqueFunction(function=lambda context: ready_fn()),
+        ]), locals()
+
+
+class TestBufferClient(unittest.TestCase):
+
+    def test_termination(self, node_under_test, proc_info):
+        proc_info.assertWaitForShutdown(process=node_under_test, timeout=(10))
+
+
+@launch_testing.post_shutdown_test()
+class BufferClientTestAfterShutdown(unittest.TestCase):
+
+    def test_exit_code(self):
+        # Check that all processes in the launch (in this case, there's just one) exit
+        # with code 0
+        launch_testing.asserts.assertExitCodes(self.proc_info)