Make all packages use gmock, not gtest

controller_interface/test/test_chainable_controller_interface.cpp

@@ -14,9 +14,10 @@
 
 #include "test_chainable_controller_interface.hpp"
 
-#include <gmock/gmock.h>
 #include <memory>
 
+#include "gmock/gmock.h"
+
 using ::testing::IsEmpty;
 using ::testing::SizeIs;
 

controller_interface/test/test_chainable_controller_interface.hpp

@@ -15,12 +15,11 @@
 #ifndef TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 #define TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 
-#include <gmock/gmock.h>
-
 #include <string>
 #include <vector>
 
 #include "controller_interface/chainable_controller_interface.hpp"
+#include "gmock/gmock.h"
 #include "hardware_interface/handle.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_chainable_controller";

controller_interface/test/test_controller_interface.cpp

@@ -14,11 +14,11 @@
 
 #include "test_controller_interface.hpp"
 
-#include <gmock/gmock.h>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/executor_options.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"

controller_interface/test/test_controller_with_options.cpp

@@ -14,9 +14,10 @@
 
 #include "test_controller_with_options.hpp"
 
-#include <gtest/gtest.h>
 #include <string>
 
+#include "gmock/gmock.h"
+
 class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
 {
   FRIEND_TEST(ControllerWithOption, init_with_overrides);

controller_interface/test/test_force_torque_sensor.hpp

@@ -19,12 +19,11 @@
 #ifndef TEST_FORCE_TORQUE_SENSOR_HPP_
 #define TEST_FORCE_TORQUE_SENSOR_HPP_
 
-#include <gmock/gmock.h>
-
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "gmock/gmock.h"
 #include "semantic_components/force_torque_sensor.hpp"
 
 // implementing and friending so we can access member variables

controller_interface/test/test_gps_sensor.cpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
 #include <algorithm>
 #include <array>
 #include <string>
 #include <vector>
+
+#include "gmock/gmock.h"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "semantic_components/gps_sensor.hpp"

controller_interface/test/test_imu_sensor.hpp

@@ -19,12 +19,11 @@
 #ifndef TEST_IMU_SENSOR_HPP_
 #define TEST_IMU_SENSOR_HPP_
 
-#include <gmock/gmock.h>
-
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "gmock/gmock.h"
 #include "semantic_components/imu_sensor.hpp"
 
 // implementing and friending so we can access member variables

controller_interface/test/test_led_rgb_device.hpp

@@ -15,14 +15,13 @@
 #ifndef TEST_LED_RGB_DEVICE_HPP_
 #define TEST_LED_RGB_DEVICE_HPP_
 
-#include <gmock/gmock.h>
-
 #include <array>
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "gmock/gmock.h"
 #include "semantic_components/led_rgb_device.hpp"
 
 class TestableLedDevice : public semantic_components::LedRgbDevice

controller_interface/test/test_pose_sensor.hpp

@@ -15,13 +15,12 @@
 #ifndef TEST_POSE_SENSOR_HPP_
 #define TEST_POSE_SENSOR_HPP_
 
-#include <gmock/gmock.h>
-
 #include <array>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "gmock/gmock.h"
 #include "semantic_components/pose_sensor.hpp"
 
 class TestablePoseSensor : public semantic_components::PoseSensor

controller_interface/test/test_semantic_component_command_interface.hpp

@@ -18,12 +18,11 @@
 #ifndef TEST_SEMANTIC_COMPONENT_COMMAND_INTERFACE_HPP_
 #define TEST_SEMANTIC_COMPONENT_COMMAND_INTERFACE_HPP_
 
-#include <gmock/gmock.h>
-
 #include <memory>
 #include <string>
 
 #include "geometry_msgs/msg/pose.hpp"
+#include "gmock/gmock.h"
 #include "semantic_components/semantic_component_command_interface.hpp"
 
 // implementing and friending so we can access member variables

controller_interface/test/test_semantic_component_interface.hpp

@@ -19,12 +19,11 @@
 #ifndef TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 #define TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 
-#include <gmock/gmock.h>
-
 #include <memory>
 #include <string>
 
 #include "geometry_msgs/msg/wrench.hpp"
+#include "gmock/gmock.h"
 #include "semantic_components/semantic_component_interface.hpp"
 
 // implementing and friending so we can access member variables

controller_manager/test/controller_manager_test_common.hpp

@@ -15,26 +15,20 @@
 #ifndef CONTROLLER_MANAGER_TEST_COMMON_HPP_
 #define CONTROLLER_MANAGER_TEST_COMMON_HPP_
 
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-
 #include <chrono>
 #include <memory>
 #include <string>
 #include <thread>
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
-
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_msgs/srv/switch_controller.hpp"
-
+#include "gmock/gmock.h"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/utilities.hpp"
-
-#include "std_msgs/msg/string.hpp"
-
 #include "ros2_control_test_assets/descriptions.hpp"
+#include "std_msgs/msg/string.hpp"
 
 namespace
 {

controller_manager/test/test_controller_manager.cpp

@@ -11,15 +11,14 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
-#include <gmock/gmock.h>
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_msgs/msg/controller_manager_activity.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/executor.hpp"
 #include "test_chainable_controller/test_chainable_controller.hpp"

controller_manager/test/test_controller_manager_hardware_error_handling.cpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "ros2_control_test_assets/test_hardware_interface_constants.hpp"

controller_manager/test/test_controller_manager_srvs.cpp

@@ -12,20 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
 #include <memory>
 #include <random>
 #include <string>
 #include <vector>
 
-#include "controller_manager_test_common.hpp"
-
 #include "controller_interface/controller_interface.hpp"
 #include "controller_manager_msgs/srv/list_controller_types.hpp"
 #include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_msgs/srv/list_hardware_interfaces.hpp"
 #include "controller_manager_msgs/srv/switch_controller.hpp"
+#include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_chainable_controller/test_chainable_controller.hpp"
 #include "test_controller/test_controller.hpp"

controller_manager/test/test_controller_manager_urdf_passing.cpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "ros2_control_test_assets/descriptions.hpp"
 #include "test_controller/test_controller.hpp"
 

controller_manager/test/test_controller_manager_with_namespace.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "test_controller/test_controller.hpp"
 
 using ::testing::_;

controller_manager/test/test_controllers_chaining_with_controller_manager.cpp

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -21,6 +20,7 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_chainable_controller/test_chainable_controller.hpp"
 #include "test_controller/test_controller.hpp"

controller_manager/test/test_hardware_management_srvs.cpp

@@ -11,18 +11,15 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "controller_manager_test_common.hpp"
-
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_msgs/msg/hardware_component_state.hpp"
 #include "controller_manager_msgs/srv/set_hardware_component_state.hpp"
+#include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/parameter.hpp"

controller_manager/test/test_hardware_spawner.cpp

@@ -12,15 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
-
 #include <cstdlib>
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_chainable_controller/test_chainable_controller.hpp"
 #include "test_controller/test_controller.hpp"

controller_manager/test/test_load_controller.cpp

@@ -11,16 +11,14 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
 #include <memory>
 #include <string>
 #include <tuple>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_controller/test_controller.hpp"
 #include "test_controller_failed_init/test_controller_failed_init.hpp"

controller_manager/test/test_release_interfaces.cpp

@@ -11,14 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
 #include <string>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_controller/test_controller.hpp"
 #include "test_controller_with_interfaces/test_controller_with_interfaces.hpp"

controller_manager/test/test_spawner_unspawner.cpp

@@ -12,15 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
-
 #include <cstdlib>
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
+#include "gmock/gmock.h"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_chainable_controller/test_chainable_controller.hpp"
 #include "test_controller/test_controller.hpp"

hardware_interface/test/mock_components/test_generic_system.cpp

@@ -14,13 +14,12 @@
 //
 // Author: Denis Stogl
 
-#include <gmock/gmock.h>
-
 #include <cmath>
 #include <string>
 #include <unordered_map>
 #include <vector>
 
+#include "gmock/gmock.h"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "hardware_interface/resource_manager.hpp"
@@ -2210,6 +2209,6 @@ TEST_F(TestGenericSystem, prepare_command_mode_switch_works_with_all_example_tag
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  testing::InitGoogleTest(&argc, argv);
+  testing::InitGoogleMock(&argc, argv);
   return RUN_ALL_TESTS();
 }