Fix the mock plugin install for the plugin_overhead benchmark. - #57
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clalancette wants to merge 1 commit into
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Fix the mock plugin install for the plugin_overhead benchmark.#57clalancette wants to merge 1 commit into
clalancette wants to merge 1 commit into
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There are two fixes in here: 1. Do not wrap the APPEND_ENV value in double quotes. CMake passes the double quotes through as literal characters in the environment variable value, so the mock install path from pluginlib_enable_plugin_testing() was silently skipped when searching for plugins at test time. 2. Register the mock plugin description under the "urdf_parser_plugin" plugin category, which is the category that urdf::Model actually loads parser plugins from (and that the real package exports). While the result is more correct, the scenario it fixes is incredibly niche: when you are building this package *without colcon* and with the performance tests enabled, this makes the performance tests work. In all other scenarios this is a no-op. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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Description
There are two fixes in here:
Do not wrap the APPEND_ENV value in double quotes. CMake passes the double quotes through as literal characters in the environment variable value, so the mock install path from pluginlib_enable_plugin_testing() was silently skipped when searching for plugins at test time.
Register the mock plugin description under the "urdf_parser_plugin" plugin category, which is the category that urdf::Model actually loads parser plugins from (and that the real package exports).
While the result is more correct, the scenario it fixes is incredibly niche: when you are building this package without colcon and with the performance tests enabled, this makes the performance tests work. In all other scenarios this is a no-op.
Is this user-facing behavior change?
No.
Did you use Generative AI?
Yes, Claude Fable 5.
Additional Information
N/A