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christophfroehlichchristophfroehlich
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Move test_components to own package (#1325)
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14 files changed

+79
-23
lines changed

14 files changed

+79
-23
lines changed

‎.github/workflows/ci-coverage-build.yml

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@@ -30,6 +30,7 @@ jobs:
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controller_interface
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controller_manager
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hardware_interface
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hardware_interface_testing
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transmission_interface
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vcs-repo-file-url: |

‎.github/workflows/ci-ros-lint.yml

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@@ -24,6 +24,7 @@ jobs:
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controller_manager
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controller_manager_msgs
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hardware_interface
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hardware_interface_testing
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ros2controlcli
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ros2_control
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ros2_control_test_assets
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controller_manager
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controller_manager_msgs
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hardware_interface
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hardware_interface_testing
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ros2controlcli
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ros2_control
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ros2_control_test_assets

‎controller_manager/package.xml

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<depend>std_msgs</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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<test_depend>hardware_interface_testing</test_depend>
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<test_depend>ros2_control_test_assets</test_depend>
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<export>

‎hardware_interface/CMakeLists.txt

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@@ -79,21 +79,6 @@ if(BUILD_TESTING)
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target_link_libraries(test_component_parser hardware_interface)
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ament_target_dependencies(test_component_parser ros2_control_test_assets)
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add_library(test_components SHARED
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test/test_components/test_actuator.cpp
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test/test_components/test_sensor.cpp
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test/test_components/test_system.cpp)
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target_link_libraries(test_components hardware_interface)
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ament_target_dependencies(test_components
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pluginlib
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ros2_control_test_assets
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)
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install(TARGETS test_components
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DESTINATION lib
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)
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pluginlib_export_plugin_description_file(
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hardware_interface test/test_components/test_components.xml)
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add_library(test_hardware_components SHARED
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test/test_hardware_components/test_single_joint_actuator.cpp
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test/test_hardware_components/test_force_torque_sensor.cpp
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hardware_interface test/test_hardware_components/test_hardware_components.xml
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)
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ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
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target_link_libraries(test_resource_manager hardware_interface)
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ament_target_dependencies(test_resource_manager ros2_control_test_assets)
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ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
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target_link_libraries(test_resource_manager_prepare_perform_switch hardware_interface)
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ament_target_dependencies(test_resource_manager_prepare_perform_switch ros2_control_test_assets)
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ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp)
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target_include_directories(test_generic_system PRIVATE include)
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target_link_libraries(test_generic_system hardware_interface)

‎hardware_interface_testing/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16)
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project(hardware_interface_testing LANGUAGES CXX)
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if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
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add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
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endif()
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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control_msgs
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hardware_interface
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lifecycle_msgs
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pluginlib
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rclcpp_lifecycle
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ros2_control_test_assets
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)
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find_package(ament_cmake REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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add_library(test_components SHARED
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test/test_components/test_actuator.cpp
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test/test_components/test_sensor.cpp
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test/test_components/test_system.cpp)
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ament_target_dependencies(test_components hardware_interface pluginlib ros2_control_test_assets)
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install(TARGETS test_components
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DESTINATION lib
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)
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pluginlib_export_plugin_description_file(
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hardware_interface test/test_components/test_components.xml)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
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ament_target_dependencies(test_resource_manager hardware_interface ros2_control_test_assets)
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ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
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ament_target_dependencies(test_resource_manager_prepare_perform_switch hardware_interface ros2_control_test_assets)
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endif()
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎hardware_interface_testing/README.md

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# hardware_interface_testing
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This package contains a set of hardware interfaces and controllers that can be used for other
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packages to test their functionality.

‎hardware_interface_testing/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>hardware_interface_testing</name>
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<version>0.0.0</version>
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<description>ros2_control hardware interface testing</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>
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<maintainer email="[email protected]">Denis Štogl</maintainer>
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<maintainer email="[email protected]">Christoph Froehlich</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>control_msgs</depend>
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<depend>hardware_interface</depend>
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<depend>lifecycle_msgs</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>ros2_control_test_assets</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎hardware_interface/test/test_components/test_actuator.cpp renamed to ‎hardware_interface_testing/test/test_components/test_actuator.cpp

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‎hardware_interface/test/test_components/test_components.xml renamed to ‎hardware_interface_testing/test/test_components/test_components.xml

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‎hardware_interface/test/test_components/test_sensor.cpp renamed to ‎hardware_interface_testing/test/test_components/test_sensor.cpp

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