updated tests

ctu-mrs · Dec 11, 2023 · 101f8a9 · 101f8a9
1 parent 3691a0d
commit 101f8a9
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Showing 12 changed files with 71 additions and 71 deletions.
diff --git a/test/gazebo_takeoff/CMakeLists.txt b/test/gazebo_takeoff/CMakeLists.txt
@@ -13,9 +13,4 @@ add_dependencies(test_${TEST_NAME}
   ${catkin_EXPORTED_TARGETS}
   )
 
-add_rostest(${TEST_NAME}.test
-  ARGS
-  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
-  package_name:=${PROJECT_NAME}
-  test_name:=${TEST_NAME}
-  )
+add_rostest(${TEST_NAME}.test)
diff --git a/test/gazebo_takeoff/gazebo_takeoff.test b/test/gazebo_takeoff/gazebo_takeoff.test
@@ -1,12 +1,17 @@
 <launch>
 
+  <arg name="this_path" default="$(dirname)" />
+
   <arg name="UAV_NAME" default="uav1" />
   <arg name="UAV_TYPE" default="x500" />
 
-  <!-- these will be filled in from the CMakeLists -->
-  <arg name="test_path" default="" />
-  <arg name="test_name" default="" />
-  <arg name="package_name" default="" />
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
   <include file="$(find mrs_uav_testing)/launch/gazebo_simulator.launch" />
 
@@ -21,7 +26,7 @@
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 
-  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test_name" value="$(arg test_name)" />
     <param name="uav_name" value="$(arg UAV_NAME)" />
     <param name="gazebo_spawner_params" value="1 --$(arg UAV_TYPE) --enable-rangefinder" />

diff --git a/test/moving_drone/CMakeLists.txt b/test/moving_drone/CMakeLists.txt
@@ -13,9 +13,4 @@ add_dependencies(test_${TEST_NAME}
   ${catkin_EXPORTED_TARGETS}
   )
 
-add_rostest(${TEST_NAME}.test
-  ARGS
-  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
-  package_name:=${PROJECT_NAME}
-  test_name:=${TEST_NAME}
-  )
+add_rostest(${TEST_NAME}.test)
diff --git a/test/moving_drone/moving_drone.test b/test/moving_drone/moving_drone.test
@@ -1,12 +1,17 @@
 <launch>
 
+  <arg name="this_path" default="$(dirname)" />
+
   <arg name="UAV_NAME" default="uav1" />
   <arg name="UAV_TYPE" default="x500" />
 
-  <!-- these will be filled in from the CMakeLists -->
-  <arg name="test_path" default="" />
-  <arg name="test_name" default="" />
-  <arg name="package_name" default="" />
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
   <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
@@ -22,7 +27,7 @@
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 
-  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test_name" value="$(arg test_name)" />
     <param name="uav_name" value="$(arg UAV_NAME)" />
   </test>

diff --git a/test/outside_safety_area/CMakeLists.txt b/test/outside_safety_area/CMakeLists.txt
@@ -13,9 +13,4 @@ add_dependencies(test_${TEST_NAME}
   ${catkin_EXPORTED_TARGETS}
   )
 
-add_rostest(${TEST_NAME}.test
-  ARGS
-  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
-  package_name:=${PROJECT_NAME}
-  test_name:=${TEST_NAME}
-  )
+add_rostest(${TEST_NAME}.test)
diff --git a/test/outside_safety_area/outside_safety_area.test b/test/outside_safety_area/outside_safety_area.test
@@ -1,16 +1,21 @@
 <launch>
 
+  <arg name="this_path" default="$(dirname)" />
+
   <arg name="UAV_NAME" default="uav1" />
   <arg name="UAV_TYPE" default="x500" />
 
-  <!-- these will be filled in from the CMakeLists -->
-  <arg name="test_path" default="" />
-  <arg name="test_name" default="" />
-  <arg name="package_name" default="" />
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
   <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
-    <arg name="mrs_simulator_config" default="$(arg test_path)/config/mrs_simulator.yaml" />
+    <arg name="mrs_simulator_config" default="$(dirname)/config/mrs_simulator.yaml" />
   </include>
 
   <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
@@ -23,7 +28,7 @@
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 
-  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test_name" value="$(arg test_name)" />
     <param name="uav_name" value="$(arg UAV_NAME)" />
   </test>

diff --git a/test/takeoff/CMakeLists.txt b/test/takeoff/CMakeLists.txt
@@ -13,9 +13,4 @@ add_dependencies(test_${TEST_NAME}
   ${catkin_EXPORTED_TARGETS}
   )
 
-add_rostest(${TEST_NAME}.test
-  ARGS
-  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
-  package_name:=${PROJECT_NAME}
-  test_name:=${TEST_NAME}
-  )
+add_rostest(${TEST_NAME}.test)
diff --git a/test/takeoff/takeoff.test b/test/takeoff/takeoff.test
@@ -1,16 +1,21 @@
 <launch>
 
+  <arg name="this_path" default="$(dirname)" />
+
   <arg name="UAV_NAME" default="uav1" />
   <arg name="UAV_TYPE" default="x500" />
 
-  <!-- these will be filled in from the CMakeLists -->
-  <arg name="test_path" default="" />
-  <arg name="test_name" default="" />
-  <arg name="package_name" default="" />
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
   <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
-    <arg name="mrs_simulator_config" default="$(arg test_path)/config/mrs_simulator.yaml" />
+    <arg name="mrs_simulator_config" default="$(dirname)/config/mrs_simulator.yaml" />
   </include>
 
   <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
@@ -23,7 +28,7 @@
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 
-  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test_name" value="$(arg test_name)" />
     <param name="uav_name" value="$(arg UAV_NAME)" />
   </test>

diff --git a/test/topic_check/CMakeLists.txt b/test/topic_check/CMakeLists.txt
@@ -13,9 +13,4 @@ add_dependencies(test_${TEST_NAME}
   ${catkin_EXPORTED_TARGETS}
   )
 
-add_rostest(${TEST_NAME}.test
-  ARGS
-  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
-  package_name:=${PROJECT_NAME}
-  test_name:=${TEST_NAME}
-  )
+add_rostest(${TEST_NAME}.test)
diff --git a/test/topic_check/topic_check.test b/test/topic_check/topic_check.test
@@ -1,12 +1,17 @@
 <launch>
 
+  <arg name="this_path" default="$(dirname)" />
+
   <arg name="UAV_NAME" default="uav1" />
   <arg name="UAV_TYPE" default="x500" />
 
-  <!-- these will be filled in from the CMakeLists -->
-  <arg name="test_path" default="" />
-  <arg name="test_name" default="" />
-  <arg name="package_name" default="" />
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
   <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
@@ -18,12 +23,12 @@
 
   <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
     <arg name="automatic_start" default="true" />
-    <arg name="automatic_start_config" default="$(arg test_path)/config/automatic_start.yaml" />
+    <arg name="automatic_start_config" default="$(dirname)/config/automatic_start.yaml" />
     <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 
-  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test_name" value="$(arg test_name)" />
     <param name="uav_name" value="$(arg UAV_NAME)" />
   </test>

diff --git a/test/without_takeoff/CMakeLists.txt b/test/without_takeoff/CMakeLists.txt
@@ -13,9 +13,4 @@ add_dependencies(test_${TEST_NAME}
   ${catkin_EXPORTED_TARGETS}
   )
 
-add_rostest(${TEST_NAME}.test
-  ARGS
-  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
-  package_name:=${PROJECT_NAME}
-  test_name:=${TEST_NAME}
-  )
+add_rostest(${TEST_NAME}.test)
diff --git a/test/without_takeoff/without_takeoff.test b/test/without_takeoff/without_takeoff.test
@@ -1,16 +1,21 @@
 <launch>
 
+  <arg name="this_path" default="$(dirname)" />
+
   <arg name="UAV_NAME" default="uav1" />
   <arg name="UAV_TYPE" default="x500" />
 
-  <!-- these will be filled in from the CMakeLists -->
-  <arg name="test_path" default="" />
-  <arg name="test_name" default="" />
-  <arg name="package_name" default="" />
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
 
   <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
-    <arg name="mrs_simulator_config" default="$(arg test_path)/config/mrs_simulator.yaml" />
+    <arg name="mrs_simulator_config" default="$(dirname)/config/mrs_simulator.yaml" />
   </include>
 
   <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
@@ -19,12 +24,12 @@
 
   <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
     <arg name="automatic_start" default="true" />
-    <arg name="automatic_start_config" default="$(arg test_path)/config/automatic_start.yaml" />
+    <arg name="automatic_start_config" default="$(dirname)/config/automatic_start.yaml" />
     <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
     <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
   </include>
 
-  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
     <param name="test_name" value="$(arg test_name)" />
     <param name="uav_name" value="$(arg UAV_NAME)" />
   </test>