Change to ament_add_gmock in joint_limits (#2165)

Author: saikishor

joint_limits/CMakeLists.txt

@@ -72,8 +72,11 @@ if(BUILD_TESTING)
   find_package(pluginlib REQUIRED)
   find_package(rclcpp REQUIRED)
 
-  ament_add_gmock_executable(joint_limits_rosparam_test test/joint_limits_rosparam_test.cpp)
+  ament_add_gmock(joint_limits_rosparam_test test/joint_limits_rosparam_test.cpp)
   target_link_libraries(joint_limits_rosparam_test joint_limits)
+  target_compile_definitions(
+    joint_limits_rosparam_test
+    PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")
 
   ament_add_gmock(joint_limits_urdf_test test/joint_limits_urdf_test.cpp)
   target_link_libraries(joint_limits_urdf_test joint_limits)

joint_limits/test/joint_limits_rosparam_test.cpp

@@ -28,6 +28,10 @@ class JointLimitsRosParamTest : public ::testing::Test
     rclcpp::NodeOptions node_options;
     node_options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(
       true);
+    const std::vector<std::string> node_option_arguments = {
+      "--ros-args", "--params-file",
+      std::string(PARAMETERS_FILE_PATH) + std::string("joint_limits_rosparam.yaml")};
+    node_options.arguments(node_option_arguments);
 
     node_ = rclcpp::Node::make_shared("JointLimitsRosparamTestNode", node_options);
   }
@@ -279,7 +283,16 @@ TEST_F(JointLimitsRosParamTest, parse_soft_joint_limits)
 class JointLimitsUndeclaredRosParamTest : public ::testing::Test
 {
 public:
-  void SetUp() { node_ = rclcpp::Node::make_shared("JointLimitsRosparamTestNode"); }
+  void SetUp()
+  {
+    rclcpp::NodeOptions node_options;
+    const std::vector<std::string> node_option_arguments = {
+      "--ros-args", "--params-file",
+      std::string(PARAMETERS_FILE_PATH) + std::string("joint_limits_rosparam.yaml")};
+    node_options.arguments(node_option_arguments);
+
+    node_ = rclcpp::Node::make_shared("JointLimitsRosparamTestNode", node_options);
+  }
 
   void TearDown() { node_.reset(); }
 
@@ -292,7 +305,14 @@ class JointLimitsLifecycleNodeUndeclaredRosParamTest : public ::testing::Test
 public:
   void SetUp()
   {
-    lifecycle_node_ = rclcpp_lifecycle::LifecycleNode::make_shared("JointLimitsRosparamTestNode");
+    rclcpp::NodeOptions node_options;
+    const std::vector<std::string> node_option_arguments = {
+      "--ros-args", "--params-file",
+      std::string(PARAMETERS_FILE_PATH) + std::string("joint_limits_rosparam.yaml")};
+    node_options.arguments(node_option_arguments);
+
+    lifecycle_node_ =
+      rclcpp_lifecycle::LifecycleNode::make_shared("JointLimitsRosparamTestNode", node_options);
   }
 
   void TearDown()