feat: isolate gtests in all packages

Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Apr 19, 2022 · d6aaafd · d6aaafd
1 parent b2f90a0
commit d6aaafd
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Showing 48 changed files with 62 additions and 61 deletions.
diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt
@@ -47,7 +47,7 @@ if(BUILD_TESTING)
 
   # Unit tests
   set(TEST_COMMON test_common_gtest)
-  ament_add_gtest(${TEST_COMMON}
+  ament_add_ros_isolated_gtest(${TEST_COMMON}
           test/gtest_main.cpp
           test/test_bool_comparisons.cpp
           test/test_byte_reader.cpp

diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml
@@ -13,9 +13,9 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>eigen</build_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
@@ -46,7 +46,7 @@ if(BUILD_TESTING)
     test/src/test_common_2d.cpp
     test/src/test_intersection.cpp
   )
-  ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
+  ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC})
   autoware_set_compile_options(${GEOMETRY_GTEST})
   target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion)
   target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include")

diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml
@@ -17,7 +17,7 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <!-- <test_depend>ament_lint_auto</test_depend> -->
   <!-- <test_depend>ament_lint_common</test_depend> -->

diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt
@@ -28,7 +28,7 @@ if(BUILD_TESTING)
   # Linters
   ament_lint_auto_find_test_dependencies()
   # Unit test
-  ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
+  ament_add_ros_isolated_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp)
   autoware_set_compile_options(test_tf2_autoware_auto_msgs)
   target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include")
   ament_target_dependencies(test_tf2_autoware_auto_msgs

diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml
@@ -19,7 +19,7 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <!-- <test_depend>ament_lint_auto</test_depend> -->
   <!-- <test_depend>ament_lint_common</test_depend> -->
 

diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt
@@ -26,7 +26,7 @@ if(BUILD_TESTING)
 
   find_package(ament_cmake_gtest REQUIRED)
 
-  ament_add_gtest(test_autoware_point_types
+  ament_add_ros_isolated_gtest(test_autoware_point_types
     test/test_point_types.cpp
   )
   target_include_directories(test_autoware_point_types

diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml
@@ -21,7 +21,7 @@
   <depend>pcl_ros</depend>
   <depend>point_cloud_msg_wrapper</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>point_cloud_msg_wrapper</test_depend>

diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt
@@ -30,7 +30,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(test_fake_test_node
+  ament_add_ros_isolated_gtest(test_fake_test_node
     test/test_fake_test_node.cpp
   )
   autoware_set_compile_options(test_fake_test_node)

diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_auto_cmake</buildtool_depend>
 
-  <depend>ament_cmake_gtest</depend>
+  <depend>ament_cmake_ros</depend>
   <depend>autoware_auto_common</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt
@@ -27,7 +27,7 @@ if(BUILD_TESTING)
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_gtest(test_interpolation ${test_files})
+  ament_add_ros_isolated_gtest(test_interpolation ${test_files})
 
   target_link_libraries(test_interpolation
     interpolation

diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml
@@ -11,6 +11,7 @@
 
   <depend>tier4_autoware_utils</depend>
 
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt
@@ -16,7 +16,7 @@ if(BUILD_TESTING)
   # Linters
   ament_lint_auto_find_test_dependencies()
   # Unit test
-  ament_add_gtest(motion_testing_unit_tests
+  ament_add_ros_isolated_gtest(motion_testing_unit_tests
     test/gtest_main.cpp
     test/constant_trajectory.cpp
     test/trajectory_checks.cpp)

diff --git a/common/motion_testing/package.xml b/common/motion_testing/package.xml
@@ -20,7 +20,7 @@
   <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>time_utils</build_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <!-- <test_depend>ament_lint_auto</test_depend> -->
   <!-- <test_depend>ament_lint_common</test_depend> -->
 

diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt
@@ -68,7 +68,7 @@ if(BUILD_TESTING)
     test/test_csc_matrix_conv.cpp
   )
   set(TEST_OSQP_INTERFACE_EXE test_osqp_interface)
-  ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES})
+  ament_add_ros_isolated_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES})
   autoware_set_compile_options(${TEST_OSQP_INTERFACE_EXE})
   target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME})
 endif()

diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml
@@ -16,7 +16,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>eigen</test_depend>
   <!-- <test_depend>ament_lint_auto</test_depend> -->
   <!-- <test_depend>ament_lint_common</test_depend> -->

diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt
@@ -20,7 +20,7 @@ ament_auto_add_library(lowpass_filter_1d SHARED
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-  ament_add_gtest(test_signal_processing
+  ament_add_ros_isolated_gtest(test_signal_processing
     test/src/lowpass_filter_1d_test.cpp
   )
   target_link_libraries(test_signal_processing

diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml
@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt
@@ -19,7 +19,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   include_directories(include)
   ament_lint_auto_find_test_dependencies()
-  ament_add_gtest(${PROJECT_NAME}_test test/test.cpp)
+  ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp)
   ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs)
 endif()
 

diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml
@@ -12,7 +12,7 @@
   <depend>rclcpp</depend>
   <depend>tier4_external_api_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>rclcpp</test_depend>

diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt
@@ -28,7 +28,7 @@ if(BUILD_TESTING)
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_gtest(test_tier4_autoware_utils ${test_files})
+  ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files})
 
   target_link_libraries(test_tier4_autoware_utils
     tier4_autoware_utils

diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml
@@ -20,7 +20,7 @@
   <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/common/vehicle_constants_manager/CMakeLists.txt b/common/vehicle_constants_manager/CMakeLists.txt
@@ -41,7 +41,7 @@ autoware_set_compile_options(${PROJECT_NAME})
 #   # Unit tests
 #   set(TEST_SOURCES test/test_vehicle_constants_manager.cpp)
 #   set(TEST_VEHICLE_CONSTANTS_MANAGER_EXE test_vehicle_constants_manager)
-#   ament_add_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES})
+#   ament_add_ros_isolated_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES})
 #   autoware_set_compile_options(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE})
 #   target_link_libraries(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${PROJECT_NAME})
 # endif()

diff --git a/common/vehicle_constants_manager/package.xml b/common/vehicle_constants_manager/package.xml
@@ -14,7 +14,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>autoware_auto_cmake</test_depend>
 
   <export>

diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt
@@ -100,7 +100,7 @@ if(BUILD_TESTING)
     test/test_lowpass_filter.cpp
   )
   set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller)
-  ament_add_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES})
+  ament_add_ros_isolated_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES})
   autoware_set_compile_options(${TEST_LATERAL_CONTROLLER_EXE})
   target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${LATERAL_CONTROLLER_LIB})
 
@@ -111,7 +111,7 @@ if(BUILD_TESTING)
     test/test_longitudinal_controller_utils.cpp
   )
   set(TEST_LONGITUDINAL_CONTROLLER_EXE test_longitudinal_controller)
-  ament_add_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES})
+  ament_add_ros_isolated_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES})
   autoware_set_compile_options(${TEST_LONGITUDINAL_CONTROLLER_EXE})
   target_link_libraries(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${LONGITUDINAL_CONTROLLER_LIB})
 endif()

diff --git a/control/trajectory_follower/package.xml b/control/trajectory_follower/package.xml
@@ -27,7 +27,7 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>eigen</test_depend>
   <!-- <test_depend>ament_lint_auto</test_depend> -->
   <!-- <test_depend>ament_lint_common</test_depend> -->

diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt
@@ -30,7 +30,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gtest(test_vehicle_cmd_gate
+  ament_add_ros_isolated_gtest(test_vehicle_cmd_gate
     test/src/test_main.cpp
     test/src/test_vehicle_cmd_filter.cpp
   )

diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml
@@ -23,7 +23,7 @@
   <depend>tier4_vehicle_msgs</depend>
   <depend>vehicle_info_util</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt
@@ -25,7 +25,7 @@ ament_target_dependencies(ekf_localizer kalman_filter)
 
 # if(BUILD_TESTING)
 #   find_package(ament_cmake_gtest REQUIRED)
-#   ament_add_gtest(ekf_localizer-test test/test_ekf_localizer.test
+#   ament_add_ros_isolated_gtest(ekf_localizer-test test/test_ekf_localizer.test
 #     test/src/test_ekf_localizer.cpp
 #     src/ekf_localizer.cpp
 #     src/kalman_filter/kalman_filter.cpp

diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
@@ -22,7 +22,7 @@
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt
@@ -72,16 +72,16 @@ target_link_libraries(autoware_lanelet2_validation
 )
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp)
+  find_package(ament_cmake_ros REQUIRED)
+  ament_add_ros_isolated_gtest(message_conversion-test test/src/test_message_conversion.cpp)
   target_link_libraries(message_conversion-test lanelet2_extension_lib)
-  ament_add_gtest(projector-test test/src/test_projector.cpp)
+  ament_add_ros_isolated_gtest(projector-test test/src/test_projector.cpp)
   target_link_libraries(projector-test lanelet2_extension_lib)
-  ament_add_gtest(query-test test/src/test_query.cpp)
+  ament_add_ros_isolated_gtest(query-test test/src/test_query.cpp)
   target_link_libraries(query-test lanelet2_extension_lib)
-  ament_add_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp)
+  ament_add_ros_isolated_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp)
   target_link_libraries(regulatory_elements-test lanelet2_extension_lib)
-  ament_add_gtest(utilities-test test/src/test_utilities.cpp)
+  ament_add_ros_isolated_gtest(utilities-test test/src/test_utilities.cpp)
   target_link_libraries(utilities-test lanelet2_extension_lib)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml
@@ -27,7 +27,7 @@
   <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt
@@ -315,7 +315,7 @@ if(BUILD_TESTING)
     src/utilization/util.cpp
   )
   # Gtest for utilization
-  ament_add_gtest(utilization-test
+  ament_add_ros_isolated_gtest(utilization-test
     test/src/test_state_machine.cpp
     test/src/test_arc_lane_util.cpp
     test/src/test_utilization.cpp
@@ -326,7 +326,7 @@ if(BUILD_TESTING)
   )
 
   # Gtest for occlusion spot
-  ament_add_gtest(occlusion_spot-test
+  ament_add_ros_isolated_gtest(occlusion_spot-test
     test/src/test_occlusion_spot_utils.cpp
     test/src/test_risk_predictive_braking.cpp
     test/src/test_grid_utils.cpp

diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml
@@ -41,7 +41,7 @@
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt
@@ -31,7 +31,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(freespace_planning_algorithms-test
+  ament_add_ros_isolated_gtest(freespace_planning_algorithms-test
     test/src/test_freespace_planning_algorithms.cpp
   )
   target_link_libraries(freespace_planning_algorithms-test

diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml
@@ -18,7 +18,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt
@@ -33,7 +33,7 @@ rclcpp_components_register_node(invalid_trajectory_publisher_node
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-  ament_add_gtest(test_planning_error_monitor
+  ament_add_ros_isolated_gtest(test_planning_error_monitor
     test/src/test_main.cpp
     test/src/test_planning_error_monitor_functions.cpp
     test/src/test_planning_error_monitor_helper.hpp

diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml
@@ -20,7 +20,7 @@
   <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt
@@ -37,7 +37,7 @@ rclcpp_components_register_node(${PROJECT_NAME}_node
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
-  ament_add_gtest(test_${PROJECT_NAME}
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
     test/test_planning_evaluator_node.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}

diff --git a/planning/planning_evaluator/package.xml b/planning/planning_evaluator/package.xml
@@ -22,7 +22,7 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>