Reduce compilation memory

rviz_default_plugins/CMakeLists.txt

@@ -46,9 +46,9 @@ if(MSVC)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
 endif()
 
-# Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
-set(CMAKE_AUTOMOC ON)
+# We specifically don't turn on CMAKE_AUTOMOC, since it generates one huge
+# mocs_compilation.cpp file that takes a lot of memory to compile.  Instead
+# we create individual moc files that can be compiled separately.
 
 find_package(ament_cmake REQUIRED)
 
@@ -74,7 +74,6 @@ find_package(TinyXML REQUIRED)  # provided by tinyxml_vendor
 find_package(urdf REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
-# These need to be added in the add_library() call so AUTOMOC detects them.
 set(rviz_default_plugins_headers_to_moc
   include/rviz_default_plugins/displays/axes/axes_display.hpp
   include/rviz_default_plugins/displays/camera/camera_display.hpp
@@ -86,29 +85,19 @@ set(rviz_default_plugins_headers_to_moc
   include/rviz_default_plugins/displays/laser_scan/laser_scan_display.hpp
   include/rviz_default_plugins/displays/map/map_display.hpp
   include/rviz_default_plugins/displays/marker/marker_common.hpp
-  include/rviz_default_plugins/displays/marker/marker_display.hpp
-  include/rviz_default_plugins/displays/marker_array/marker_array_display.hpp
   include/rviz_default_plugins/displays/odometry/odometry_display.hpp
   include/rviz_default_plugins/transformation/transformer_guard.hpp
   include/rviz_default_plugins/displays/interactive_markers/integer_action.hpp
   include/rviz_default_plugins/displays/interactive_markers/interactive_marker.hpp
-  include/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp
   include/rviz_default_plugins/displays/interactive_markers/interactive_marker_display.hpp
   include/rviz_default_plugins/displays/interactive_markers/interactive_marker_namespace_property.hpp
   include/rviz_default_plugins/displays/path/path_display.hpp
   include/rviz_default_plugins/displays/point/point_stamped_display.hpp
   include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
-  include/rviz_default_plugins/displays/pointcloud/point_cloud_display.hpp
-  include/rviz_default_plugins/displays/pointcloud/point_cloud2_display.hpp
   include/rviz_default_plugins/displays/pointcloud/point_cloud_transformer.hpp
-  include/rviz_default_plugins/displays/pointcloud/point_cloud_transformer_factory.hpp
-  include/rviz_default_plugins/displays/pointcloud/point_cloud_helpers.hpp
-  include/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display.hpp
   include/rviz_default_plugins/displays/pointcloud/transformers/axis_color_pc_transformer.hpp
   include/rviz_default_plugins/displays/pointcloud/transformers/flat_color_pc_transformer.hpp
   include/rviz_default_plugins/displays/pointcloud/transformers/intensity_pc_transformer.hpp
-  include/rviz_default_plugins/displays/pointcloud/transformers/rgb8_pc_transformer.hpp
-  include/rviz_default_plugins/displays/pointcloud/transformers/rgbf32_pc_transformer.hpp
   include/rviz_default_plugins/displays/polygon/polygon_display.hpp
   include/rviz_default_plugins/displays/pose/pose_display.hpp
   include/rviz_default_plugins/displays/pose_array/pose_array_display.hpp
@@ -127,16 +116,17 @@ set(rviz_default_plugins_headers_to_moc
   include/rviz_default_plugins/tools/measure/measure_tool.hpp
   include/rviz_default_plugins/tools/goal_pose/goal_tool.hpp
   include/rviz_default_plugins/tools/interaction/interaction_tool.hpp
-  include/rviz_default_plugins/tools/pose/pose_tool.hpp
   include/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.hpp
   include/rviz_default_plugins/tools/point/point_tool.hpp
-  include/rviz_default_plugins/transformation/tf_frame_transformer.hpp
-  include/rviz_default_plugins/transformation/tf_wrapper.hpp
   include/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp
   include/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.hpp
   include/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.hpp
 )
 
+foreach(header "${rviz_default_plugins_headers_to_moc}")
+  qt5_wrap_cpp(rviz_default_plugins_moc_files "${header}")
+endforeach()
+
 set(rviz_default_plugins_source_files
   src/rviz_default_plugins/displays/axes/axes_display.cpp
   src/rviz_default_plugins/displays/camera/camera_display.cpp
@@ -224,7 +214,7 @@ set(rviz_default_plugins_source_files
 )
 
 add_library(rviz_default_plugins SHARED
-  ${rviz_default_plugins_headers_to_moc}
+  ${rviz_default_plugins_moc_files}
   ${rviz_default_plugins_source_files}
 )
 
@@ -327,11 +317,6 @@ if(BUILD_TESTING)
   )
   ament_include_directories_order(TEST_INCLUDE_DIRS ${TEST_INCLUDE_DIRS})
 
-  set(TEST_LINK_LIBRARIES
-    rviz_default_plugins
-    Qt5::Widgets
-  )
-
   set(TEST_TARGET_DEPENDENCIES
     map_msgs
     nav_msgs
@@ -341,10 +326,27 @@ if(BUILD_TESTING)
     visualization_msgs
   )
 
+  # display_test_fixture.cpp is a piece of code that is used by every test.
+  # Instead of recompiling it for every test, just compile it once as a library
+  # and reuse it.  Note that we need to call ament_find_gmock() by hand here to
+  # find GMOCK_INCLUDE_DIRS and GMOCK_LIBRARIES so we can compile this file.
+  ament_find_gmock()
+  add_library(display_test_fixture
+    test/rviz_default_plugins/displays/display_test_fixture.cpp
+  )
+  target_include_directories(display_test_fixture PRIVATE ${GMOCK_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS})
+  target_link_libraries(display_test_fixture ${GMOCK_LIBRARIES})
+  ament_target_dependencies(display_test_fixture ${TEST_TARGET_DEPENDENCIES} rviz_rendering rviz_common)
+
+  set(TEST_LINK_LIBRARIES
+    display_test_fixture
+    rviz_default_plugins
+    Qt5::Widgets
+  )
+
   ament_add_gmock(fps_view_controller_test
     test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET fps_view_controller_test)
@@ -355,7 +357,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_info_test
     test/rviz_default_plugins/displays/tf/frame_info_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_info_test)
@@ -366,7 +367,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(grid_cells_display_test
     test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET grid_cells_display_test)
     target_include_directories(grid_cells_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -392,7 +392,6 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/displays/marker/marker_messages.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
@@ -405,7 +404,6 @@ if(BUILD_TESTING)
   ament_add_gmock(marker_common_test
     test/rviz_default_plugins/displays/marker/marker_common_test.cpp
     test/rviz_default_plugins/displays/marker/marker_messages.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_common_test)
@@ -416,7 +414,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(map_display_test
     test/rviz_default_plugins/displays/map/map_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET map_display_test)
@@ -427,7 +424,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(measure_tool_test
     test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET measure_tool_test)
@@ -438,7 +434,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_display_test
     test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_display_test)
@@ -459,7 +454,6 @@ if(BUILD_TESTING)
   ament_add_gmock(orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET orbit_view_controller_test)
@@ -471,7 +465,6 @@ if(BUILD_TESTING)
   ament_add_gmock(ortho_view_controller_test
     test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ortho_view_controller_test)
@@ -491,7 +484,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(path_display_test
     test/rviz_default_plugins/displays/path/path_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET path_display_test)
@@ -515,7 +507,6 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/pointcloud_messages.hpp
     test/rviz_default_plugins/pointcloud_messages.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_common_test)
@@ -526,7 +517,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud_scalar_display_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_scalar_display_test)
     target_include_directories(point_cloud_scalar_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -552,7 +542,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_display_test
     test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_display_test)
@@ -563,7 +552,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_array_display_test
     test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_array_display_test)
@@ -574,7 +562,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_tool_test
     test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_tool_test)
@@ -585,7 +572,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(range_display_test
     test/rviz_default_plugins/displays/range/range_display_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET range_display_test)
@@ -624,7 +610,6 @@ if(BUILD_TESTING)
   ament_add_gmock(xy_orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET xy_orbit_view_controller_test)
@@ -644,7 +629,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(transformer_guard_test
     test/rviz_default_plugins/transformation/transformer_guard_test.cpp
-    test/rviz_default_plugins/displays/display_test_fixture.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET transformer_guard_test)
     target_include_directories(transformer_guard_test PUBLIC ${TEST_INCLUDE_DIRS})

rviz_default_plugins/include/rviz_default_plugins/displays/laser_scan/laser_scan_display.hpp

@@ -41,6 +41,7 @@
 #include "rviz_common/message_filter_display.hpp"
 #include "rviz_common/transformation/frame_transformer.hpp"
 
+#include "rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
 #include "rviz_default_plugins/transformation/transformer_guard.hpp"
 #include "rviz_default_plugins/transformation/tf_wrapper.hpp"
 #include "rviz_default_plugins/transformation/tf_frame_transformer.hpp"
@@ -56,7 +57,6 @@ class IntProperty;
 }  // namespace rviz_common
 namespace rviz_default_plugins
 {
-class PointCloudCommon;
 namespace displays
 {
 /** @brief Visualizes a laser scan, received as a sensor_msgs::LaserScan. */

rviz_default_plugins/src/rviz_default_plugins/displays/pose_array/flat_arrows_array.cpp

@@ -28,7 +28,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "include/rviz_default_plugins/displays/pose_array/flat_arrows_array.hpp"
+#include "rviz_default_plugins/displays/pose_array/flat_arrows_array.hpp"
 
 #include <vector>
 #include <string>

rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_cov_selection_handler.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "src/rviz_default_plugins/displays/pose_covariance/pose_with_cov_selection_handler.hpp"
+#include "pose_with_cov_selection_handler.hpp"
 
 #include <memory>
 

rviz_default_plugins/src/rviz_default_plugins/displays/tf/frame_info.cpp

@@ -28,7 +28,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "include/rviz_default_plugins/displays/tf/frame_info.hpp"
+#include "rviz_default_plugins/displays/tf/frame_info.hpp"
 
 #include <algorithm>
 
@@ -40,7 +40,7 @@
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/properties/vector_property.hpp"
 #include "rviz_common/properties/quaternion_property.hpp"
-#include "include/rviz_default_plugins/displays/tf/frame_selection_handler.hpp"
+#include "rviz_default_plugins/displays/tf/frame_selection_handler.hpp"
 
 namespace rviz_default_plugins
 {

rviz_default_plugins/test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp

@@ -38,7 +38,7 @@
 
 #include "test/rviz_rendering/ogre_testing_environment.hpp"
 
-#include "include/rviz_default_plugins/displays/image/ros_image_texture.hpp"
+#include "rviz_default_plugins/displays/image/ros_image_texture.hpp"
 
 using namespace rviz_default_plugins::displays;  // NOLINT
 

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_test.cpp

@@ -32,7 +32,7 @@
 #include <vector>
 
 #include "rviz_default_plugins/displays/pointcloud/point_cloud2_display.hpp"
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../pointcloud_messages.hpp"
 
 using namespace ::testing;  // NOLINT
 using namespace rviz_default_plugins::displays;  // NOLINT

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/axis_color_pc_transformer_test.cpp

@@ -34,7 +34,7 @@
 #include <QList>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/properties/property.hpp"
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../../pointcloud_messages.hpp"
 
 #include "rviz_default_plugins/displays/pointcloud/transformers/axis_color_pc_transformer.hpp"
 

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/flat_color_pc_transformer_test.cpp

@@ -34,7 +34,7 @@
 #include <QList>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/properties/property.hpp"
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../../pointcloud_messages.hpp"
 
 #include "rviz_default_plugins/displays/pointcloud/transformers/flat_color_pc_transformer.hpp"
 

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/intensity_pc_transformer_test.cpp

@@ -33,7 +33,7 @@
 
 #include <QList>  // NOLINT: cpplint is unable to handle the include order here
 
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../../pointcloud_messages.hpp"
 
 #include "rviz_default_plugins/displays/pointcloud/transformers/intensity_pc_transformer.hpp"
 

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/rgb8_pc_transformer_test.cpp

@@ -32,7 +32,7 @@
 #include <memory>
 #include <vector>
 
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../../pointcloud_messages.hpp"
 
 #include "rviz_default_plugins/displays/pointcloud/transformers/rgb8_pc_transformer.hpp"
 

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/rgbf32_pc_transformer_test.cpp

@@ -32,7 +32,7 @@
 #include <memory>
 #include <vector>
 
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../../pointcloud_messages.hpp"
 
 #include "rviz_default_plugins/displays/pointcloud/transformers/rgbf32_pc_transformer.hpp"
 

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp

@@ -32,7 +32,7 @@
 #include <memory>
 #include <vector>
 
-#include "test/rviz_default_plugins/pointcloud_messages.hpp"
+#include "../../../pointcloud_messages.hpp"
 
 #include "../../../scene_graph_introspection_helper.hpp"