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Merged
merged 2 commits into from
Apr 4, 2025
Merged

Change to ament_add_gmock in joint_limits #2165

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7451621
Change to `ament_add_gmock` in joint_limits
saikishor Apr 4, 2025
559e996
add fixes for gmock testing with joint limits
saikishor Apr 4, 2025
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5 changes: 4 additions & 1 deletion joint_limits/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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24 changes: 22 additions & 2 deletions joint_limits/test/joint_limits_rosparam_test.cpp
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Expand Up @@ -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);
}
Expand Down Expand Up @@ -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(); }

Expand All @@ -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()
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