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Porting test_tf2 #203

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merged 46 commits into from
Jan 22, 2020
Merged

Porting test_tf2 #203

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d3d143b
Initial port of test_tf2 - wip
ahcorde Dec 4, 2019
e70e2c7
test_tf2 port test_utils
ahcorde Dec 4, 2019
70186f6
test_tf2 ported test_message_filter
ahcorde Dec 4, 2019
f741201
test_tf2 ported test_buffer_server.cpp
ahcorde Dec 5, 2019
dd68d80
test_tf2 ported test_buffer_client
ahcorde Dec 17, 2019
6a8dc8e
test_tf2 ported test_statis_publisher
ahcorde Dec 17, 2019
86df753
test_tf2 ported test_tf2_bullet
ahcorde Dec 17, 2019
2b497a3
tf2_test ported python tests
ahcorde Dec 17, 2019
6e0417c
Added more tests to tf2_ros
ahcorde Dec 4, 2019
d6a2fa9
test_tf2 using emplace_back in permuter.hpp
ahcorde Dec 17, 2019
d2cfd5c
test_tf2 ported test_convert.cpp
ahcorde Dec 17, 2019
1f9bdd2
fixed package.xml and CMakeLists.txt
ahcorde Dec 17, 2019
e032eea
test_tf2 some improvements buffer_core_test.cpp
ahcorde Dec 17, 2019
4d8f8f6
test_tf2 permutter.hpp no semicolon after a method.
ahcorde Dec 18, 2019
51e2ce2
test_tf2 test_message_filter fix
ahcorde Dec 18, 2019
469d064
test_tf2 permutter.hpp brace on the next line
ahcorde Dec 18, 2019
d74a2b3
test_tf2 test_utils added TODO
ahcorde Dec 18, 2019
da0bf6c
test_tf2_ fixed test_message_filter
ahcorde Dec 19, 2019
7e5d582
test_tf2 fixed test_buffer_client
ahcorde Dec 19, 2019
cc1a957
test_tf2 fixed test_static_publisher
ahcorde Dec 19, 2019
d36935e
test_tf2 add test_buffer_client.py test
ahcorde Dec 19, 2019
8526dc1
test_tf2 disabled tf2_kdl
ahcorde Dec 19, 2019
a70b80f
test_tf2 fixed buffer_core_test.cpp
ahcorde Dec 19, 2019
2057d58
Merge branch 'ros2' of https://github.com/ros2/geometry2 into ahcorde…
ahcorde Dec 19, 2019
5f12b5a
Restoring tf2_ros files
ahcorde Jan 7, 2020
8dcc5f6
Update test_tf2/test/permuter.hpp
ahcorde Jan 13, 2020
85e11a1
Update test_tf2/test/permuter.hpp
ahcorde Jan 13, 2020
f774347
alphabetize cmake
ahcorde Jan 14, 2020
215f5cb
add brackets test_tf2 permutter.cpp
ahcorde Jan 14, 2020
201e64d
removed comment test_static_publisher.cpp
ahcorde Jan 14, 2020
8b55f05
Improved TODO message
ahcorde Jan 14, 2020
ee847c6
test_tf2 Improved headers and removed some unnecessary code
ahcorde Jan 14, 2020
fab5031
Commented bullet dependency
ahcorde Jan 14, 2020
b6b21cd
Improved package.xml test_tf2
ahcorde Jan 14, 2020
a099594
Fixed cmakelists
ahcorde Jan 14, 2020
ef1c040
Update package.xml test_tf2
ahcorde Jan 15, 2020
aeee191
test_tf2 including math contanst in Windows
ahcorde Jan 15, 2020
9ab51fa
Added launch_ros depend in package.xml
ahcorde Jan 15, 2020
740a310
test_tf2 changed 0.0/0.0 for NaN
ahcorde Jan 15, 2020
f720bbb
Fixed permutter define
ahcorde Jan 16, 2020
22c41a5
Fixed MACOS issue with gtest
ahcorde Jan 16, 2020
68e2608
fixed compiler warnings
ahcorde Jan 15, 2020
562ac61
replaced deprecated constPtr
ahcorde Jan 15, 2020
fbfb21c
Included suggestions
ahcorde Jan 20, 2020
51a9a06
Merge branch 'ros2' into ahcorde/test/test_tf2
ahcorde Jan 20, 2020
3dd26d9
fixed ring_45_configuration test_tf2
ahcorde Jan 22, 2020
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Empty file removed test_tf2/AMENT_IGNORE
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Empty file.
122 changes: 71 additions & 51 deletions test_tf2/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,62 +1,82 @@
cmake_minimum_required(VERSION 3.5)

if(NOT CATKIN_ENABLE_TESTING)
if(NOT BUILD_TESTING)
return()
endif()

project(test_tf2)

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_kdl REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_bullet REQUIRED)

ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
if(TARGET buffer_core_test)
ament_target_dependencies(buffer_core_test
tf2
rclcpp
)
endif()

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})

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})

add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_bullet.launch)


if(TARGET tests)
add_dependencies(tests test_buffer_server test_buffer_client test_static_publisher test_tf2_bullet)
ament_add_gtest(test_message_filter test/test_message_filter.cpp)
if(TARGET test_message_filter)
ament_target_dependencies(test_message_filter
tf2
tf2_ros
rclcpp
geometry_msgs
)
endif()

ament_add_gtest(test_utils test/test_utils.cpp)
if(TARGET test_utils)
ament_target_dependencies(test_utils
tf2
tf2_kdl
)
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()
find_package(PkgConfig REQUIRED)
pkg_check_modules(bullet REQUIRED bullet)
include_directories(include ${bullet_INCLUDE_DIRS})

ament_add_gtest(test_buffer_client test/test_buffer_client.cpp)
ament_target_dependencies(test_buffer_client
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rclcpp
rclcpp_action
tf2_ros
tf2_kdl
tf2_bullet
)

# 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} ${GTEST_LIBRARIES})
#
# add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_bullet.launch)
#
#
# if(TARGET tests)
# add_dependencies(tests test_buffer_server test_buffer_client test_static_publisher test_tf2_bullet)
# 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()

ament_package()
36 changes: 7 additions & 29 deletions test_tf2/package.xml
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Original file line number Diff line number Diff line change
@@ -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>
Expand All @@ -10,34 +10,12 @@
<license>BSD</license>

<url type="website">http://www.ros.org/wiki/geometry_experimental</url>

<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
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<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>
<depend>rclcpp</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>

<test_depend>rosunit</test_depend>
<test_depend>rosbash</test_depend>
<test_depend>ament_cmake_gtest</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>


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