Consolidate the number of tests that are built/linked

rviz_default_plugins/CMakeLists.txt

@@ -2,6 +2,10 @@ cmake_minimum_required(VERSION 3.10)
 
 project(rviz_default_plugins)
 
+# Limit concurrent link jobs to reduce peak memory usage
+set_property(GLOBAL PROPERTY JOB_POOLS link_job_pool=2)
+set(CMAKE_JOB_POOL_LINK link_job_pool)
+
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -359,10 +363,27 @@ if(BUILD_TESTING)
   #
   # There are also issues even if we manage to defer the linking, because the fixture class inherits
   # from gtest classes, which are not exported.
-  set(TEST_FIXTURE_SOURCES_WITH_MOCK
+  #
+  # However, an OBJECT library allows us to compile the sources once and reuse them.
+  add_library(test_fixture_objects OBJECT
     test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection.cpp
   )
+  target_include_directories(test_fixture_objects PRIVATE
+    ${TEST_INCLUDE_DIRS}
+    include
+    ${GMOCK_INCLUDE_DIRS}
+    ${GTEST_INCLUDE_DIRS}
+  )
+  target_link_libraries(test_fixture_objects PUBLIC
+    rclcpp::rclcpp
+    rviz_common::rviz_common
+    rviz_ogre_vendor::OgreMain
+    ogre_testing_environment
+    Qt${QT_VERSION_MAJOR}::Widgets
+  )
+
+  set(TEST_FIXTURE_OBJECTS $<TARGET_OBJECTS:test_fixture_objects>)
 
   set(TEST_FIXTURE_WITH_MOCK_LIBRARIES
     rclcpp::rclcpp
@@ -373,7 +394,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(fps_view_controller_test
     test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET fps_view_controller_test)
     target_include_directories(fps_view_controller_test PRIVATE ${TEST_INCLUDE_DIRS})
@@ -387,7 +408,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_view_controller_test
     test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_view_controller_test)
     target_include_directories(frame_view_controller_test PRIVATE ${TEST_INCLUDE_DIRS})
@@ -401,7 +422,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_info_test
     test/rviz_default_plugins/displays/tf/frame_info_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_info_test)
     target_include_directories(frame_info_test PRIVATE test)
@@ -410,15 +431,15 @@ if(BUILD_TESTING)
 
   ament_add_gmock(get_transport_from_topic_test
     test/rviz_default_plugins/displays/image/get_transport_from_topic_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK})
+    ${TEST_FIXTURE_OBJECTS})
   if(TARGET get_transport_from_topic_test)
     target_include_directories(get_transport_from_topic_test PRIVATE test)
     target_link_libraries(get_transport_from_topic_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
   endif()
 
   ament_add_gmock(grid_cells_display_test
     test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET grid_cells_display_test)
     target_include_directories(grid_cells_display_test PRIVATE test)
@@ -427,7 +448,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(image_display_test
     test/rviz_default_plugins/displays/image/image_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET image_display_test)
     target_include_directories(image_display_test PRIVATE test)
@@ -457,7 +478,7 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_test)
     target_include_directories(marker_test PRIVATE test)
@@ -472,7 +493,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(marker_common_test
     test/rviz_default_plugins/displays/marker/marker_common_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_common_test)
     target_include_directories(marker_common_test PRIVATE test)
@@ -486,7 +507,7 @@ if(BUILD_TESTING)
   endif()
 
   ament_add_gmock(map_display_test
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     test/rviz_default_plugins/displays/map/map_display_test.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET map_display_test)
@@ -496,7 +517,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(measure_tool_test
     test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET measure_tool_test)
     target_include_directories(measure_tool_test PRIVATE test)
@@ -505,7 +526,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_display_test
     test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_display_test)
     target_include_directories(odometry_display_test PRIVATE test)
@@ -514,7 +535,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_ogre_helper_test
     test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_ogre_helper_test)
     target_include_directories(odometry_ogre_helper_test PRIVATE test)
@@ -523,7 +544,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET orbit_view_controller_test)
     target_include_directories(orbit_view_controller_test PRIVATE test)
@@ -537,7 +558,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(ortho_view_controller_test
     test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ortho_view_controller_test)
     target_include_directories(ortho_view_controller_test PRIVATE test)
@@ -551,7 +572,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(palette_builder_test
     test/rviz_default_plugins/displays/map/palette_builder_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET palette_builder_test)
     target_include_directories(palette_builder_test PRIVATE test)
@@ -560,7 +581,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(path_display_test
     test/rviz_default_plugins/displays/path/path_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET path_display_test)
     target_include_directories(path_display_test PRIVATE test)
@@ -583,7 +604,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud2_display_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud2_display_test)
     target_include_directories(point_cloud2_display_test PRIVATE test)
@@ -597,7 +618,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud_common_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_common_test)
     target_include_directories(point_cloud_common_test PRIVATE test)
@@ -611,7 +632,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud_scalar_display_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_scalar_display_test)
     target_include_directories(point_cloud_scalar_display_test PRIVATE test)
@@ -630,7 +651,7 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/rgb8_pc_transformer_test.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/rgbf32_pc_transformer_test.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_transformers_test)
     target_include_directories(point_cloud_transformers_test PRIVATE test)
@@ -645,7 +666,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_display_test
     test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_display_test)
     target_include_directories(point_display_test PRIVATE test)
@@ -659,7 +680,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_array_display_test
     test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_array_display_test)
     target_include_directories(pose_array_display_test PRIVATE test)
@@ -668,7 +689,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_tool_test
     test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_tool_test)
     target_include_directories(pose_tool_test PRIVATE test)
@@ -677,7 +698,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(range_display_test
     test/rviz_default_plugins/displays/range/range_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET range_display_test)
     target_include_directories(range_display_test PRIVATE test)
@@ -686,7 +707,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(robot_test
     test/rviz_default_plugins/robot/robot_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET robot_test)
     target_include_directories(robot_test PRIVATE test)
@@ -701,7 +722,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(ros_image_texture_test
     test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ros_image_texture_test)
     target_include_directories(ros_image_texture_test PRIVATE test)
@@ -715,7 +736,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(selection_tool_test
     test/rviz_default_plugins/tools/select/selection_tool_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET selection_tool_test)
     target_include_directories(selection_tool_test PRIVATE test)
@@ -724,7 +745,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(xy_orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET xy_orbit_view_controller_test)
     target_include_directories(xy_orbit_view_controller_test PRIVATE test)
@@ -738,7 +759,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_transformer_tf_test
     test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_transformer_tf_test)
     target_include_directories(frame_transformer_tf_test PRIVATE test)
@@ -753,7 +774,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(transformer_guard_test
     test/rviz_default_plugins/transformation/transformer_guard_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET transformer_guard_test)
     target_include_directories(transformer_guard_test PRIVATE test)

rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp

@@ -37,7 +37,9 @@
 #include <memory>
 #include <string>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/subscription.hpp>
+#include <rclcpp/time.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 #include <rviz_common/properties/bool_property.hpp>
 #include <rviz_common/properties/int_property.hpp>

rviz_default_plugins/include/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp

@@ -54,7 +54,6 @@
 #include "rviz_common/viewport_mouse_event.hpp"
 
 #include "rviz_default_plugins/displays/marker/markers/marker_base.hpp"
-#include "rviz_default_plugins/displays/marker/markers/points_marker.hpp"
 
 namespace Ogre
 {
@@ -77,6 +76,12 @@ namespace displays
 {
 class InteractiveMarker;
 
+namespace markers
+{
+class PointsMarker;
+class MarkerFactory;
+}
+
 /// A single control element of an InteractiveMarker.
 class InteractiveMarkerControl
   : public Ogre::SceneManager::Listener,
@@ -445,7 +450,7 @@ class InteractiveMarkerControl
 
   std::string name_;
 
-  std::vector<markers::MarkerBase::SharedPtr> markers_;
+  std::vector<std::shared_ptr<markers::MarkerBase>> markers_;
 
   InteractiveMarker * parent_;
 
@@ -456,7 +461,9 @@ class InteractiveMarkerControl
    * regular highlighting method does not work for them.
    * Keep a vector of them so we can call their setHighlightColor() function.
    */
-  std::vector<markers::PointsMarker::SharedPtr> points_markers_;
+  std::vector<std::shared_ptr<markers::PointsMarker>> points_markers_;
+
+  std::unique_ptr<markers::MarkerFactory> marker_factory_;
 
   /// Stores the rotation around the x axis of the control.
   /**

rviz_default_plugins/include/rviz_default_plugins/displays/marker/markers/marker_base.hpp

@@ -40,7 +40,7 @@
 #include <OgreVector.h>
 
 #include "visualization_msgs/msg/marker.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/time.hpp"
 
 #include "rviz_common/interaction/forwards.hpp"
 #include "rviz_common/interactive_object.hpp"

rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp

@@ -45,7 +45,6 @@
 
 //# include <message_filters/time_sequencer.h>
 
-#include "pluginlib/class_loader.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/time.hpp"
 
@@ -57,9 +56,6 @@
 #include "rviz_common/properties/color_property.hpp"
 #include "rviz_rendering/objects/point_cloud.hpp"
 
-#include "point_cloud_transformer.hpp"
-#include "point_cloud_selection_handler.hpp"
-
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.hpp"
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_transformer.hpp"
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_transformer_factory.hpp"