use example-robot-data for tests instead of talos-data

CMakeLists.txt

@@ -34,9 +34,12 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 # Project dependencies
 ADD_PROJECT_DEPENDENCY(jrl-walkgen REQUIRED PKG_CONFIG_REQUIRES "jrl-walkgen >= 3.2.0")
 ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES "sot-core >= 4.8.1")
-ADD_PROJECT_DEPENDENCY(talos_data)
 ADD_OPTIONAL_DEPENDENCY("hrp2_14_description >= 1.0.5")
 
+IF(BUILD_TESTING)
+  ADD_PROJECT_DEPENDENCY(example-robot-data 3.6.0 REQUIRED)
+ENDIF(BUILD_TESTING)
+
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   SEARCH_FOR_BOOST_PYTHON(REQUIRED)

src/dynamic_graph/sot/pattern_generator/__init__.py

-import meta_selector  # noqa
-from pg import PatternGenerator
-from selector import Selector
+from . import meta_selector  # noqa
+from .pg import PatternGenerator
+from .selector import Selector
 
 PatternGenerator('')
 

src/dynamic_graph/sot/pattern_generator/meta_selector.py

-from selector import Selector
 from dynamic_graph import plug
 
+from .selector import Selector
+
 print("With meta selector")
 
 # Define a new constructor for the selector entity. The basic Selector(name)

tests/CMakeLists.txt

@@ -9,6 +9,7 @@ ADD_UNIT_TEST(main_test main.cc)
 TARGET_LINK_LIBRARIES(main_test
   jrl-walkgen::jrl-walkgen
   sot-core::sot-core
+  example-robot-data::example-robot-data
   next-step
   next-step-pg-sot
   step-checker
@@ -20,8 +21,3 @@ TARGET_LINK_LIBRARIES(main_test
   pg
   pg-manager
   )
-
-SET(urdfpath ${TALOS_DATA_PREFIX}/share/talos_data/urdf/talos_full_v2.urdf)
-
-TARGET_COMPILE_DEFINITIONS(main_test PUBLIC
-  URDF_FULL_PATH="${urdfpath}" )

tests/main.cc

@@ -17,6 +17,8 @@
 #include <sot/core/debug.hh>
 #include <sot/core/robot-utils.hh>
 
+#include <example-robot-data/path.hpp>
+
 using namespace std;
 
 void setEndEffectorParameters(  dynamicgraph::sot::RobotUtilShrPtr aRobotUtil) {
@@ -101,7 +103,7 @@ int main(int, char**) {
   dynamicgraph::sot::PatternGenerator aPG;
 
   // Search talos_reduced_wpg.urdf
-  string filename(URDF_FULL_PATH);
+  string filename(EXAMPLE_ROBOT_DATA_MODEL_DIR "/talos_data/robots/talos_full_v2.urdf");
   if (!boost::filesystem::exists(filename))
   {
     cerr << "Unable to find talos_reduced_wpg.urdf" << endl;