Removes custom gtest package and uses ament_cmake_gtest instead

.github/workflows/build.yml

@@ -50,6 +50,8 @@ jobs:
         token: ${{ secrets.MALIPUT_TOKEN }}
     # use setup-ros action to get vcs, rosdep, and colcon
     - uses: ros-tooling/[email protected]
+      env:
+        ACTIONS_ALLOW_UNSECURE_COMMANDS: true
     # install drake_vendor prereqs using dsim-repos-index/tools/prereqs.lib
     - name: install drake_vendor prereqs
       shell: bash

package.xml

@@ -52,10 +52,12 @@
   <build_export_depend>ignition-msgs2</build_export_depend>
   <build_export_depend>ignition-transport5</build_export_depend>
   <build_export_depend>malidrive</build_export_depend>
+  <build_export_depend>maliput_malidrive</build_export_depend>
 
   <exec_depend>ament_cmake</exec_depend>
   <exec_depend>py_trees</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_clang_format</test_depend>
 
   <export>

test/CMakeLists.txt

@@ -2,6 +2,8 @@
 # Find Packages
 ##############################################################################
 
+find_package(ament_cmake_gtest REQUIRED)
+
 # Find the Python interpreter for running the check_test_ran.py script
 find_package(PythonInterp QUIET)
 
@@ -15,7 +17,7 @@ macro(delphyne_build_tests)
     string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file})
     set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME})
 
-    add_executable(${BINARY_NAME} ${GTEST_SOURCE_file} ${sources})
+    ament_add_gtest(${BINARY_NAME} ${GTEST_SOURCE_file} TIMEOUT 240)
 
     target_include_directories(${BINARY_NAME}
       PRIVATE
@@ -25,15 +27,12 @@ macro(delphyne_build_tests)
     )
 
     # Kind of an ugly catch-all bucket
-
     target_link_libraries(
       ${BINARY_NAME}
         agents
         backend
         delphyne_test_utilities
         drake::drake
-        gtest_main
-        gtest
         ignition-common3::ignition-common3
         ignition-msgs2::ignition-msgs2
         ignition-transport5::ignition-transport5
@@ -50,17 +49,12 @@ macro(delphyne_build_tests)
     # Remove a warning in GTest.
     target_compile_options(${BINARY_NAME} PRIVATE "-Wno-sign-compare")
 
-    add_test(${BINARY_NAME} ${CMAKE_CURRENT_BINARY_DIR}/${BINARY_NAME}
-      --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
-
-    set_tests_properties(${BINARY_NAME} PROPERTIES TIMEOUT 240)
-
     if (PYTHONINTERP_FOUND)
       # Check that the test produced a result and create a failure if
       # it didn't. Guards against crashed and timed out tests.
       add_test(check_${BINARY_NAME} python
         ${PROJECT_SOURCE_DIR}/test/utils/check_test_ran.py
-        ${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
+        ${CMAKE_BINARY_DIR}/test_results/delphyne/${BINARY_NAME}.gtest.xml)
     endif()
   endforeach()
 endmacro()
@@ -84,7 +78,6 @@ configure_file (test_config.h.in ${PROJECT_BINARY_DIR}/test/test_config.h)
 # Testing
 ##############################################################################
 
-add_subdirectory(libgtest)
 add_subdirectory(regression)
 
 

test/Readme.md

@@ -8,11 +8,6 @@ $ ./test/run_tests.sh
 
 ## Errata
 
-### GTest
-
-Built as a shared library so that it can be used in helper libraries AND
-test executables without causing invalid pointer fun in the destructors.
-
 ### Categories
 
 Regression, performance and integration. If we get so many tests, might be worth