refactored tests agains new mrs_uav_testing api

CMakeLists.txt

@@ -17,6 +17,7 @@ set(CATKIN_DEPENDENCIES
   sensor_msgs
   std_msgs
   tf2_geometry_msgs
+  mrs_uav_testing
   )
 
 find_package(catkin REQUIRED COMPONENTS

package.xml

@@ -27,6 +27,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>mrs_uav_testing</depend>
 
   <exec_depend>pluginlib</exec_depend>
   <exec_depend>tf2_ros</exec_depend>

test/CMakeLists.txt

@@ -1,83 +1,9 @@
 find_package(rostest REQUIRED)
 
-# Corrections test
+add_subdirectory(gps_baro)
 
-## DOES NOT COMPILE
-# add_rostest_gtest(CorrectionsTest
-#   corrections/corrections.test
-#   corrections/test_corrections.cpp
-#   )
+add_subdirectory(gps_garmin)
 
-# target_link_libraries(CorrectionsTest
-#   mrs_lib
-#   ${catkin_LIBRARIES}
-#   )
+add_subdirectory(rtk)
 
-# add_dependencies(CorrectionsTest
-#   ${${PROJECT_NAME}_EXPORTED_TARGETS}
-#   ${catkin_EXPORTED_TARGETS}
-#   )
-
-# GpsBaro basic
-
-add_rostest_gtest(GpsBaro_basic
-  gps_baro/basic/gps_baro_basic.test
-  gps_baro/basic/test.cpp
-  )
-
-target_link_libraries(GpsBaro_basic
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(GpsBaro_basic
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# GpsGarmin basic
-
-add_rostest_gtest(GpsGarmin_basic
-  gps_garmin/basic/gps_garmin_basic.test
-  gps_garmin/basic/test.cpp
-  )
-
-target_link_libraries(GpsGarmin_basic
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(GpsGarmin_basic
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# Rtk basic
-
-add_rostest_gtest(Rtk_basic
-  rtk/basic/rtk_basic.test
-  rtk/basic/test.cpp
-  )
-
-target_link_libraries(Rtk_basic
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(Rtk_basic
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# RtkGarmin basic
-
-add_rostest_gtest(RtkGarmin_basic
-  rtk_garmin/basic/rtk_garmin_basic.test
-  rtk_garmin/basic/test.cpp
-  )
-
-target_link_libraries(RtkGarmin_basic
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(RtkGarmin_basic
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(rtk_garmin)

test/all_tests.sh

@@ -5,31 +5,8 @@ set -e
 trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
-PACKAGE="mrs_uav_state_estimators"
-VERBOSE=1
-
-[ "$VERBOSE" = "0" ] && TEXT_OUTPUT=""
-[ "$VERBOSE" = "1" ] && TEXT_OUTPUT="-t"
-
 # build the package
-catkin build $PACKAGE # it has to be fully built normally before building with --catkin-make-args tests
-catkin build $PACKAGE --no-deps --catkin-make-args tests
-
-TEST_FILES=$(find . -name "*.test" -type f -printf "%f\n")
-
-for TEST_FILE in `echo $TEST_FILES`; do
-
-  echo "$0: running test '$TEST_FILE'"
-
-  # folder for test results
-  TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
-  mkdir -p $TEST_RESULT_PATH
-
-  # run the test
-  rostest $PACKAGE $TEST_FILE $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
-
-  # evaluate the test results
-  echo test result path is $TEST_RESULT_PATH
-  catkin_test_results "$TEST_RESULT_PATH"
+catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this --no-deps --catkin-make-args tests
 
-done
+catkin test --this -i -p 1 -s

test/compile_tests.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# build the package
+catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this --no-deps --catkin-make-args tests

test/gps_baro/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gps_baro_basic)