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Split tests into dedicated test packages #455

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Split tests into dedicated test packages #455

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182bffc
Separate ackermann_steering_controller tests
matthew-reynolds Feb 11, 2020
8c5cd42
Separate diff_drive_controller tests
matthew-reynolds Feb 11, 2020
8861a34
Separate four_wheel_steering_controller tests
matthew-reynolds Feb 11, 2020
712fc4b
Separate joint_state_controller tests
matthew-reynolds Feb 12, 2020
2e8e96f
Separate joint_trajectory_controller tests
matthew-reynolds Feb 12, 2020
f5d4f68
Update references to ackermann_steering_controller
matthew-reynolds Feb 12, 2020
e2f972f
Update references to diff_drive_controller
matthew-reynolds Feb 12, 2020
3172c36
Update references to four_wheel_steering_controller
matthew-reynolds Feb 12, 2020
59a20ea
Update references to joint_state_controller
matthew-reynolds Feb 12, 2020
8c2f709
Update references to joint_trajectory_controller
matthew-reynolds Feb 12, 2020
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65 changes: 0 additions & 65 deletions ackermann_steering_controller/CMakeLists.txt
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Expand Up @@ -51,68 +51,3 @@ install(TARGETS ${PROJECT_NAME}

install(FILES ackermann_steering_controller_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

if (CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED COMPONENTS
controller_manager
geometry_msgs
rostest
rosunit
std_msgs
std_srvs
gazebo_ros
xacro
)
include_directories(${catkin_INCLUDE_DIRS})

add_executable(${PROJECT_NAME}_ackermann_steering_bot test/common/src/ackermann_steering_bot.cpp)
add_dependencies(tests ${PROJECT_NAME}_ackermann_steering_bot)

target_link_libraries(${PROJECT_NAME}_ackermann_steering_bot ${catkin_LIBRARIES})
add_rostest_gtest(${PROJECT_NAME}_test
test/ackermann_steering_controller_test/ackermann_steering_controller.test
test/ackermann_steering_controller_test/ackermann_steering_controller_test.cpp)
target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES})

add_rostest_gtest(${PROJECT_NAME}_nan_test
test/ackermann_steering_controller_nan_test/ackermann_steering_controller_nan.test
test/ackermann_steering_controller_nan_test/ackermann_steering_controller_nan_test.cpp)
target_link_libraries(${PROJECT_NAME}_nan_test ${catkin_LIBRARIES})

add_rostest_gtest(${PROJECT_NAME}_limits_test
test/ackermann_steering_controller_limits_test/ackermann_steering_controller_limits.test
test/ackermann_steering_controller_limits_test/ackermann_steering_controller_limits_test.cpp)
target_link_libraries(${PROJECT_NAME}_limits_test ${catkin_LIBRARIES})

add_rostest_gtest(${PROJECT_NAME}_timeout_test
test/ackermann_steering_controller_timeout_test/ackermann_steering_controller_timeout.test
test/ackermann_steering_controller_timeout_test/ackermann_steering_controller_timeout_test.cpp)
target_link_libraries(${PROJECT_NAME}_timeout_test ${catkin_LIBRARIES})

add_rostest_gtest(ackermann_steering_controller_fail_test
test/ackermann_steering_controller_fail_test/ackermann_steering_controller_wrong.test
test/ackermann_steering_controller_fail_test/ackermann_steering_controller_fail_test.cpp)
target_link_libraries(ackermann_steering_controller_fail_test ${catkin_LIBRARIES})

add_rostest_gtest(${PROJECT_NAME}_odom_tf_test
test/ackermann_steering_controller_odom_tf_test/ackermann_steering_controller_odom_tf.test
test/ackermann_steering_controller_odom_tf_test/ackermann_steering_controller_odom_tf_test.cpp)
target_link_libraries(${PROJECT_NAME}_odom_tf_test ${catkin_LIBRARIES})

add_rostest_gtest(${PROJECT_NAME}_default_odom_frame_test
test/ackermann_steering_controller_default_odom_frame_test/ackermann_steering_controller_default_odom_frame.test
test/ackermann_steering_controller_default_odom_frame_test/ackermann_steering_controller_default_odom_frame_test.cpp)
target_link_libraries(${PROJECT_NAME}_default_odom_frame_test ${catkin_LIBRARIES})

add_rostest_gtest(ackermann_steering_controller_odom_frame_test
test/ackermann_steering_controller_odom_frame_test/ackermann_steering_controller_odom_frame.test
test/ackermann_steering_controller_odom_frame_test/ackermann_steering_controller_odom_frame_test.cpp)
target_link_libraries(ackermann_steering_controller_odom_frame_test ${catkin_LIBRARIES})

add_rostest(test/ackermann_steering_controller_open_loop_test/ackermann_steering_controller_open_loop.test)
add_rostest(test/ackermann_steering_controller_no_wheel_test/ackermann_steering_controller_no_wheel.test)
add_rostest(test/ackermann_steering_controller_no_steer_test/ackermann_steering_controller_no_steer.test)
add_rostest(test/ackermann_steering_controller_radius_param_test/ackermann_steering_controller_radius_param.test)
add_rostest(test/ackermann_steering_controller_radius_param_fail_test/ackermann_steering_controller_radius_param_fail.test)
add_rostest(test/ackermann_steering_controller_separation_param_test/ackermann_steering_controller_separation_param.test)
endif()
10 changes: 0 additions & 10 deletions ackermann_steering_controller/package.xml
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Expand Up @@ -29,16 +29,6 @@
<exec_depend>pluginlib</exec_depend>
<exec_depend>urdf</exec_depend>

<!--Tests-->
<test_depend>controller_manager</test_depend>
<test_depend>gazebo_ros</test_depend>
<test_depend>geometry_msgs</test_depend>
<test_depend>rosunit</test_depend>
<test_depend>rostest</test_depend>
<test_depend>std_msgs</test_depend>
<test_depend>std_srvs</test_depend>
<test_depend>xacro</test_depend>

<export>
<controller_interface plugin="${prefix}/ackermann_steering_controller_plugins.xml"/>
</export>
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80 changes: 0 additions & 80 deletions diff_drive_controller/CMakeLists.txt
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Expand Up @@ -44,83 +44,3 @@ install(TARGETS ${PROJECT_NAME}

install(FILES diff_drive_controller_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

if (CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED COMPONENTS controller_manager rosgraph_msgs rostest std_srvs tf)
include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(diffbot test/diffbot.cpp)
target_link_libraries(diffbot ${catkin_LIBRARIES})

add_executable(skidsteerbot test/skidsteerbot.cpp)
target_link_libraries(skidsteerbot ${catkin_LIBRARIES})

add_dependencies(tests diffbot skidsteerbot)

add_rostest_gtest(diff_drive_test
test/diff_drive_controller.test
test/diff_drive_test.cpp)
target_link_libraries(diff_drive_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_nan_test
test/diff_drive_controller_nan.test
test/diff_drive_nan_test.cpp)
target_link_libraries(diff_drive_nan_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_limits_test
test/diff_drive_controller_limits.test
test/diff_drive_limits_test.cpp)
target_link_libraries(diff_drive_limits_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_timeout_test
test/diff_drive_timeout.test
test/diff_drive_timeout_test.cpp)
target_link_libraries(diff_drive_timeout_test ${catkin_LIBRARIES})
add_rostest(test/diff_drive_multipliers.test)
add_rostest(test/diff_drive_left_right_multipliers.test)
add_rostest_gtest(diff_drive_fail_test
test/diff_drive_wrong.test
test/diff_drive_fail_test.cpp)
target_link_libraries(diff_drive_fail_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_odom_tf_test
test/diff_drive_odom_tf.test
test/diff_drive_odom_tf_test.cpp)
target_link_libraries(diff_drive_odom_tf_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_default_cmd_vel_out_test
test/diff_drive_default_cmd_vel_out.test
test/diff_drive_default_cmd_vel_out_test.cpp)
target_link_libraries(diff_drive_default_cmd_vel_out_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_pub_cmd_vel_out_test
test/diff_drive_pub_cmd_vel_out.test
test/diff_drive_pub_cmd_vel_out_test.cpp)
target_link_libraries(diff_drive_pub_cmd_vel_out_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_default_wheel_joint_controller_state_test
test/diff_drive_default_wheel_joint_controller_state.test
test/diff_drive_default_wheel_joint_controller_state_test.cpp)
target_link_libraries(diff_drive_default_wheel_joint_controller_state_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_publish_wheel_joint_controller_state_test
test/diff_drive_publish_wheel_joint_controller_state.test
test/diff_drive_publish_wheel_joint_controller_state_test.cpp)
target_link_libraries(diff_drive_publish_wheel_joint_controller_state_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_default_odom_frame_test
test/diff_drive_default_odom_frame.test
test/diff_drive_default_odom_frame_test.cpp)
target_link_libraries(diff_drive_default_odom_frame_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_odom_frame_test
test/diff_drive_odom_frame.test
test/diff_drive_odom_frame_test.cpp)
target_link_libraries(diff_drive_odom_frame_test ${catkin_LIBRARIES})
add_rostest_gtest(diff_drive_multiple_cmd_vel_publishers_test
test/diff_drive_multiple_cmd_vel_publishers.test
test/diff_drive_multiple_cmd_vel_publishers_test.cpp)
target_link_libraries(diff_drive_multiple_cmd_vel_publishers_test ${catkin_LIBRARIES})
add_rostest(test/diff_drive_open_loop.test)
add_rostest(test/skid_steer_controller.test)
add_rostest(test/skid_steer_no_wheels.test)
add_rostest(test/diff_drive_radius_sphere.test)
add_rostest(test/diff_drive_radius_param.test)
add_rostest(test/diff_drive_radius_param_fail.test)
add_rostest(test/diff_drive_separation_param.test)
add_rostest(test/diff_drive_bad_urdf.test)
add_rostest_gtest(diff_drive_dyn_reconf_test
test/diff_drive_dyn_reconf.test
test/diff_drive_dyn_reconf_test.cpp)
target_link_libraries(diff_drive_dyn_reconf_test ${catkin_LIBRARIES})
endif()
6 changes: 0 additions & 6 deletions diff_drive_controller/package.xml
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Expand Up @@ -24,12 +24,6 @@
<depend>urdf</depend>
<depend>pluginlib</depend>

<test_depend>controller_manager</test_depend>
<test_depend>rosgraph_msgs</test_depend>
<test_depend>rostest</test_depend>
<test_depend>std_srvs</test_depend>
<test_depend>xacro</test_depend>

<export>
<controller_interface plugin="${prefix}/diff_drive_controller_plugins.xml"/>
</export>
Expand Down
26 changes: 0 additions & 26 deletions four_wheel_steering_controller/CMakeLists.txt
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Expand Up @@ -39,29 +39,3 @@ install(TARGETS ${PROJECT_NAME}

install(FILES four_wheel_steering_controller_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED COMPONENTS rosgraph_msgs rostest std_srvs controller_manager tf)
include_directories(${catkin_INCLUDE_DIRS})

add_executable(four_wheel_steering test/src/four_wheel_steering.cpp)
target_link_libraries(four_wheel_steering ${catkin_LIBRARIES})

add_dependencies(tests four_wheel_steering)

add_rostest_gtest(four_wheel_steering_controller_twist_cmd_test
test/four_wheel_steering_controller_twist_cmd.test
test/src/four_wheel_steering_twist_cmd_test.cpp)
target_link_libraries(four_wheel_steering_controller_twist_cmd_test ${catkin_LIBRARIES})

add_rostest_gtest(four_wheel_steering_controller_4ws_cmd_test
test/four_wheel_steering_controller_4ws_cmd.test
test/src/four_wheel_steering_4ws_cmd_test.cpp)
target_link_libraries(four_wheel_steering_controller_4ws_cmd_test ${catkin_LIBRARIES})

add_rostest_gtest(four_wheel_steering_wrong_config_test
test/four_wheel_steering_wrong_config.test
test/src/four_wheel_steering_wrong_config.cpp)
target_link_libraries(four_wheel_steering_wrong_config_test ${catkin_LIBRARIES})

endif()
5 changes: 0 additions & 5 deletions four_wheel_steering_controller/package.xml
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Expand Up @@ -21,11 +21,6 @@
<depend>urdf_geometry_parser</depend>
<depend>pluginlib</depend>

<test_depend>rosgraph_msgs</test_depend>
<test_depend>rostest</test_depend>
<test_depend>std_srvs</test_depend>
<test_depend>controller_manager</test_depend>

<export>
<controller_interface plugin="${prefix}/four_wheel_steering_controller_plugins.xml"/>
</export>
Expand Down
9 changes: 0 additions & 9 deletions joint_state_controller/CMakeLists.txt
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Expand Up @@ -20,15 +20,6 @@ include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
add_library(${PROJECT_NAME} src/joint_state_controller.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)

add_rostest_gtest(joint_state_controller_test
test/joint_state_controller.test
test/joint_state_controller_test.cpp)
target_link_libraries(joint_state_controller_test ${PROJECT_NAME})
endif()

# Install
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
Expand Down
2 changes: 0 additions & 2 deletions joint_state_controller/package.xml
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Expand Up @@ -23,8 +23,6 @@
<depend>realtime_tools</depend>
<depend>roscpp</depend>

<test_depend>rostest</test_depend>

<export>
<controller_interface plugin="${prefix}/joint_state_plugin.xml"/>
</export>
Expand Down
1 change: 0 additions & 1 deletion joint_state_controller/rosdoc.yaml
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Expand Up @@ -2,4 +2,3 @@
name: C++ API
output_dir: c++
file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
exclude_patterns: 'test'
12 changes: 0 additions & 12 deletions joint_state_controller/test/joint_state_controller.test
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66 changes: 0 additions & 66 deletions joint_trajectory_controller/CMakeLists.txt
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Expand Up @@ -56,70 +56,6 @@ add_library(${PROJECT_NAME} src/joint_trajectory_controller.cpp

target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

if(CATKIN_ENABLE_TESTING)
find_package(catkin
REQUIRED COMPONENTS
actionlib
controller_manager
xacro
)

find_package(rostest REQUIRED)
include_directories(include ${catkin_INCLUDE_DIRS})

catkin_add_gtest(quintic_spline_segment_test test/quintic_spline_segment_test.cpp)
target_link_libraries(quintic_spline_segment_test ${catkin_LIBRARIES})

catkin_add_gtest(trajectory_interface_test test/trajectory_interface_test.cpp)
target_link_libraries(trajectory_interface_test ${catkin_LIBRARIES})

catkin_add_gtest(joint_trajectory_segment_test test/joint_trajectory_segment_test.cpp)
target_link_libraries(joint_trajectory_segment_test ${catkin_LIBRARIES})

catkin_add_gtest(joint_trajectory_msg_utils_test test/joint_trajectory_msg_utils_test.cpp)
target_link_libraries(joint_trajectory_msg_utils_test ${catkin_LIBRARIES})

catkin_add_gtest(init_joint_trajectory_test test/init_joint_trajectory_test.cpp)
target_link_libraries(init_joint_trajectory_test ${catkin_LIBRARIES})

add_rostest_gtest(tolerances_test
test/tolerances.test
test/tolerances_test.cpp)
target_link_libraries(tolerances_test ${catkin_LIBRARIES})

add_executable(rrbot test/rrbot.cpp)
target_link_libraries(rrbot ${catkin_LIBRARIES})

add_executable(rrbot_wrapping test/rrbot_wrapping.cpp)
target_link_libraries(rrbot_wrapping ${catkin_LIBRARIES})

add_dependencies(tests rrbot)
add_dependencies(tests rrbot_wrapping)
add_dependencies(tests ${PROJECT_NAME})

add_rostest_gtest(joint_trajectory_controller_test
test/joint_trajectory_controller.test
test/joint_trajectory_controller_test.cpp)
target_link_libraries(joint_trajectory_controller_test ${catkin_LIBRARIES})

add_rostest_gtest(joint_trajectory_controller_stopramp_test
test/joint_trajectory_controller_stopramp.test
test/joint_trajectory_controller_test.cpp)
target_link_libraries(joint_trajectory_controller_stopramp_test ${catkin_LIBRARIES})

add_rostest_gtest(joint_trajectory_controller_vel_test
test/joint_trajectory_controller_vel.test
test/joint_trajectory_controller_test.cpp)
target_link_libraries(joint_trajectory_controller_vel_test ${catkin_LIBRARIES})
target_compile_definitions(joint_trajectory_controller_vel_test PRIVATE TEST_VELOCITY_FF=1)

add_rostest_gtest(joint_trajectory_controller_wrapping_test
test/joint_trajectory_controller_wrapping.test
test/joint_trajectory_controller_wrapping_test.cpp)
target_link_libraries(joint_trajectory_controller_wrapping_test ${catkin_LIBRARIES})

endif()

# Install
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
Expand All @@ -136,5 +72,3 @@ install(TARGETS ${PROJECT_NAME}

install(FILES ros_control_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

# TODO: Install test resource files as well?
4 changes: 0 additions & 4 deletions joint_trajectory_controller/package.xml
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Expand Up @@ -31,10 +31,6 @@
<depend>urdf</depend>
<depend>pluginlib</depend>

<test_depend>rostest</test_depend>
<test_depend>controller_manager</test_depend>
<test_depend>xacro</test_depend>

<export>
<controller_interface plugin="${prefix}/ros_control_plugins.xml"/>
</export>
Expand Down
1 change: 0 additions & 1 deletion joint_trajectory_controller/rosdoc.yaml
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Expand Up @@ -2,4 +2,3 @@
name: C++ API
output_dir: c++
file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
exclude_patterns: 'test'
4 changes: 0 additions & 4 deletions joint_trajectory_controller/test/tolerances.test
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