Match tesseract_ros#233 for tesseract_rosutils/test

tesseract_rosutils/CMakeLists.txt

@@ -65,23 +65,7 @@ install(
 
 ament_package()
 
-if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  find_package(GTest REQUIRED)
-  find_package(std_msgs REQUIRED)
-  find_package(tesseract_support REQUIRED)
-
-  ament_add_gtest(${PROJECT_NAME}_unit test/tesseract_rosutils_unit.cpp)
-  target_link_libraries(${PROJECT_NAME}_unit
-    GTest::GTest
-    GTest::Main
-    tesseract::tesseract_support
-    ${PROJECT_NAME}
-  )
-  target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS})
-  target_clang_tidy(${PROJECT_NAME}_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-  target_cxx_version(${PROJECT_NAME}_unit PUBLIC VERSION ${TESSERACT_CXX_VERSION})
-  target_include_directories(${PROJECT_NAME}_unit PRIVATE
-      "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-      "$<INSTALL_INTERFACE:include>")
-endif()
+if(TESSERACT_ENABLE_TESTING)
+  enable_testing()
+  add_subdirectory(test)
+endif()

tesseract_rosutils/test/CMakeLists.txt

@@ -0,0 +1,16 @@
+find_gtest()
+find_package(tesseract_support REQUIRED)
+
+add_executable(${PROJECT_NAME}_unit tesseract_rosutils_unit.cpp)
+target_link_libraries(${PROJECT_NAME}_unit GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
+target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_clang_tidy(${PROJECT_NAME}_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_unit PUBLIC VERSION 17)
+add_gtest_discover_tests(${PROJECT_NAME}_unit)
+
+add_executable(${PROJECT_NAME}_geometry_msg_conversions tesseract_rosutils_geometry_msg_conversions.cpp)
+target_link_libraries(${PROJECT_NAME}_geometry_msg_conversions GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
+target_compile_options(${PROJECT_NAME}_geometry_msg_conversions PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_clang_tidy(${PROJECT_NAME}_geometry_msg_conversions ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_geometry_msg_conversions PUBLIC VERSION 17)
+add_gtest_discover_tests(${PROJECT_NAME}_geometry_msg_conversions)

tesseract_rosutils/test/tesseract_rosutils_geometry_msg_conversions.cpp

@@ -30,8 +30,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_common/unit_test_utils.h>
 #include <tesseract_common/utils.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_geometry/impl/octree_utils.h>
 #include <tesseract_geometry/mesh_parser.h>
 #include <tesseract_support/tesseract_support_resource_locator.h>
+
+#include <tesseract_msgs/msg/geometry.h>
 #include <tesseract_rosutils/utils.h>
 
 using namespace tesseract_geometry;
@@ -44,7 +47,7 @@ using namespace tesseract_rosutils;
 inline void testToMsgFromMsg(const tesseract_geometry::Geometry& object)
 {
   // Serialize to ros message
-  tesseract_msgs::Geometry msg;
+  tesseract_msgs::msg::Geometry msg;
   EXPECT_TRUE(toMsg(msg, object));
 
   // Deserialize to object
@@ -117,13 +120,15 @@ TEST(TesseractRosutilsGeometryMsgConversions, Octree)  // NOLINT
   pc.points.emplace_back(-.5, -0.5, -0.5);
   pc.points.emplace_back(-.5, 0.5, 0.5);
   {
-    auto object =
-        std::make_shared<tesseract_geometry::Octree>(pc, 1, tesseract_geometry::Octree::SubType::BOX, false, true);
+    std::unique_ptr<octomap::OcTree> ot = createOctree(pc, 1, false, true);
+    auto object = std::make_shared<tesseract_geometry::Octree>(
+        std::move(ot), tesseract_geometry::OctreeSubType::BOX, false, true);
     testToMsgFromMsg(*object);
   }
   {
-    auto object =
-        std::make_shared<tesseract_geometry::Octree>(pc, 1, tesseract_geometry::Octree::SubType::BOX, false, false);
+    std::unique_ptr<octomap::OcTree> ot = createOctree(pc, 1, false, true);
+    auto object = std::make_shared<tesseract_geometry::Octree>(
+        std::move(ot), tesseract_geometry::OctreeSubType::BOX, false, false);
     testToMsgFromMsg(*object);
   }
 }

tesseract_rosutils/test/tesseract_rosutils_unit.cpp

@@ -3,24 +3,28 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <gtest/gtest.h>
 #include <algorithm>
 #include <memory>
+#include <Eigen/Eigen>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_rosutils/conversions.h>
 #include <tesseract_rosutils/plotting.h>
 #include <tesseract_rosutils/utils.h>
-#include <tesseract_environment/environment.h>
-#include <tesseract_common/resource_locator.h>
-#include <tesseract_srdf/kinematics_information.h>
 
-#include <tesseract_msgs/msg/environment_state.hpp>
 #include <tesseract_common/types.h>
-#include <Eigen/Eigen>
-
-#include <tesseract_scene_graph/joint.h>
+#include <tesseract_common/joint_state.h>
+#include <tesseract_common/resource_locator.h>
+#include <tesseract_srdf/kinematics_information.h>
 #include <tesseract_scene_graph/link.h>
-
+#include <tesseract_scene_graph/joint.h>
+#include <tesseract_scene_graph/scene_state.h>
+#include <tesseract_environment/environment.h>
 #include <tesseract_environment/command.h>
-#include <tesseract_environment/commands.h>
+#include <tesseract_environment/commands/add_link_command.h>
+
+#include <tesseract_msgs/msg/environment.h>
+#include <tesseract_msgs/msg/environment_state.h>
+#include <tesseract_msgs/msg/joint_trajectory.h>
+#include <trajectory_msgs/msg/joint_trajectory.h>
 
 using namespace tesseract_environment;
 using namespace tesseract_scene_graph;