From 5f6b95f454b8e0c28a3259d752b239e0eaf30651 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 18 Apr 2023 11:43:52 +0200
Subject: [PATCH] [tests] Fix the way the test library is build and the Path in
launch files.
---
tests/CMakeLists.txt | 8 ++------
tests/launch/launching_test_sot_loader.py | 11 +++++------
.../launch/launching_test_sot_loader_basic.py | 18 ++++++++++--------
3 files changed, 17 insertions(+), 20 deletions(-)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 7ffb1d8..ecf044c 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -14,7 +14,6 @@ if(BUILD_TESTING)
add_library(impl_test_sot_mock_device SHARED impl_test_sot_mock_device.cpp)
set_target_properties(impl_test_sot_mock_device PROPERTIES INSTALL_RPATH
$ORIGIN)
- # target_include_directories(impl_test_sot_mock_device PUBLIC include)
target_link_libraries(
impl_test_sot_mock_device PUBLIC sot-core::sot-core
dynamic-graph-python::dynamic-graph-python)
@@ -32,15 +31,12 @@ if(BUILD_TESTING)
dynamic_graph_bridge-impl_test_sot_mock_device-wrap SOURCE_PYTHON_MODULE
"${CMAKE_CURRENT_SOURCE_DIR}/impl_test_sot_mock_device-python-module-py.cc")
- install(
- TARGETS ${plugin_library_name}
- EXPORT ${TARGETS_EXPORT_NAME}
- DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
# Library for sot_external_interface
add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp)
target_include_directories(impl_test_library PUBLIC include)
- target_link_libraries(impl_test_library PUBLIC sot-core::sot-core)
+ target_link_libraries(impl_test_library PUBLIC impl_test_sot_mock_device
+ sot-core::sot-core)
ament_target_dependencies(impl_test_library PUBLIC dynamic_graph_bridge_msgs
rclcpp rcl_interfaces std_srvs)
# Executable for SotLoaderBasic test
diff --git a/tests/launch/launching_test_sot_loader.py b/tests/launch/launching_test_sot_loader.py
index cb713bc..2080ad0 100644
--- a/tests/launch/launching_test_sot_loader.py
+++ b/tests/launch/launching_test_sot_loader.py
@@ -31,7 +31,7 @@ from launch_ros.actions import Node
def generate_test_description():
"""Load a simple urdf, parameters and the library."""
ld = LaunchDescription()
-
+ print("After launch description")
robot_description_content_path = PathJoinSubstitution(
[
get_package_share_directory("dynamic_graph_bridge"),
@@ -39,11 +39,10 @@ def generate_test_description():
"dgb_minimal_robot.urdf",
],
)
-
- robot_description_content = Path.open(
- robot_description_content_path.perform(None),
- ).read()
-
+ print("Before robot_description_content")
+ robot_description_content_path = Path(robot_description_content_path.perform(None))
+ robot_description_content = robot_description_content_path.open().read()
+ print("Before params")
params = {
"state_vector_map": ["joint1", "joint2"],
"robot_description": robot_description_content,
diff --git a/tests/launch/launching_test_sot_loader_basic.py b/tests/launch/launching_test_sot_loader_basic.py
index 5a6eba4..13b5ad1 100644
--- a/tests/launch/launching_test_sot_loader_basic.py
+++ b/tests/launch/launching_test_sot_loader_basic.py
@@ -33,17 +33,19 @@ def generate_test_description():
It also set parameters state_vector_map and robot_description
"""
+ print("start generate_test_description")
ld = LaunchDescription()
- robot_description_content_path = (
- Path(get_package_share_directory("dynamic_graph_bridge"))
- / "urdf"
- / "dgb_minimal_robot.urdf"
+ robot_description_pathjs_str = PathJoinSubstitution(
+ [
+ get_package_share_directory("dynamic_graph_bridge"),
+ "urdf",
+ "dgb_minimal_robot.urdf",
+ ],
)
- assert robot_description_content_path.exists()
- robot_description_content = Path.open(
- PathJoinSubstitution(str(robot_description_content_path)).perform(None),
- ).read()
+ robot_description_path = Path(robot_description_pathjs_str.perform(None))
+ robot_description_content = robot_description_path.open().read()
+ print("After building robot_description_content")
terminating_process = Node(
package="dynamic_graph_bridge",
executable="test_sot_loader_basic",
--
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