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consolidate test binaries #1825

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4 changes: 4 additions & 0 deletions rviz_common/src/rviz_common/ros_integration/ros_client_abstraction.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,10 @@ RosClientAbstraction::ok()
void
RosClientAbstraction::shutdown()
{
// Destroy the node before shutting down the context it was created with,
// otherwise it is destroyed during static destruction at process exit,
// which aborts.
rviz_ros_node_.reset();
rclcpp::shutdown();
}

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323 changes: 24 additions & 299 deletions rviz_default_plugins/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -388,43 +388,6 @@ if(BUILD_TESTING)
ogre_testing_environment
)

ament_add_gmock(fps_view_controller_test
test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET fps_view_controller_test)
target_include_directories(fps_view_controller_test PRIVATE ${TEST_INCLUDE_DIRS})
target_link_libraries(fps_view_controller_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
Qt${QT_VERSION_MAJOR}::Widgets
ogre_testing_environment
)
endif()

ament_add_gmock(frame_view_controller_test
test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET frame_view_controller_test)
target_include_directories(frame_view_controller_test PRIVATE ${TEST_INCLUDE_DIRS})
target_link_libraries(frame_view_controller_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
Qt${QT_VERSION_MAJOR}::Widgets
ogre_testing_environment
)
endif()

ament_add_gmock(frame_info_test
test/rviz_default_plugins/displays/tf/frame_info_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET frame_info_test)
target_include_directories(frame_info_test PRIVATE test)
target_link_libraries(frame_info_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(get_transport_from_topic_test
test/rviz_default_plugins/displays/image/get_transport_from_topic_test.cpp
${TEST_FIXTURE_OBJECTS})
Expand All @@ -433,27 +396,6 @@ if(BUILD_TESTING)
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_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET grid_cells_display_test)
target_include_directories(grid_cells_display_test PRIVATE test)
target_link_libraries(grid_cells_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(image_display_test
test/rviz_default_plugins/displays/image/image_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET image_display_test)
target_include_directories(image_display_test PRIVATE test)
target_link_libraries(image_display_test
rviz_default_plugins
ogre_testing_environment
)
endif()

add_library(marker_messages STATIC test/rviz_default_plugins/displays/marker/marker_messages.cpp)
target_link_libraries(marker_messages PRIVATE
geometry_msgs::geometry_msgs
Expand All @@ -462,7 +404,19 @@ if(BUILD_TESTING)
rviz_ogre_vendor::OgreMain
)

ament_add_gmock(marker_test
add_library(pointcloud_messages STATIC test/rviz_default_plugins/pointcloud_messages.cpp)
target_link_libraries(pointcloud_messages PRIVATE
sensor_msgs::sensor_msgs
rclcpp::rclcpp
)

ament_add_gmock(rviz_default_plugins_display_tests
test/rviz_default_plugins/display_tests_main.cpp
test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
test/rviz_default_plugins/displays/tf/frame_info_test.cpp
test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
test/rviz_default_plugins/displays/image/image_display_test.cpp
test/rviz_default_plugins/displays/marker/markers/arrow_marker_test.cpp
test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
Expand All @@ -471,277 +425,48 @@ 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_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET marker_test)
target_include_directories(marker_test PRIVATE test)
target_link_libraries(marker_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
marker_messages
visualization_msgs::visualization_msgs
ogre_testing_environment
)
endif()

ament_add_gmock(marker_common_test
test/rviz_default_plugins/displays/marker/marker_common_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET marker_common_test)
target_include_directories(marker_common_test PRIVATE test)
target_link_libraries(marker_common_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
visualization_msgs::visualization_msgs
rviz_default_plugins
marker_messages
ogre_testing_environment
)
endif()

ament_add_gmock(map_display_test
${TEST_FIXTURE_OBJECTS}
test/rviz_default_plugins/displays/map/map_display_test.cpp
${SKIP_DISPLAY_TESTS})
if(TARGET map_display_test)
target_include_directories(map_display_test PRIVATE test)
target_link_libraries(map_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(measure_tool_test
test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET measure_tool_test)
target_include_directories(measure_tool_test PRIVATE test)
target_link_libraries(measure_tool_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(odometry_display_test
test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET odometry_display_test)
target_include_directories(odometry_display_test PRIVATE test)
target_link_libraries(odometry_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(odometry_ogre_helper_test
test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET odometry_ogre_helper_test)
target_include_directories(odometry_ogre_helper_test PRIVATE test)
target_link_libraries(odometry_ogre_helper_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} ogre_testing_environment)
endif()

ament_add_gmock(orbit_view_controller_test
test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET orbit_view_controller_test)
target_include_directories(orbit_view_controller_test PRIVATE test)
target_link_libraries(orbit_view_controller_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
Qt${QT_VERSION_MAJOR}::Widgets
rviz_default_plugins
ogre_testing_environment
)
endif()

ament_add_gmock(ortho_view_controller_test
test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET ortho_view_controller_test)
target_include_directories(ortho_view_controller_test PRIVATE test)
target_link_libraries(ortho_view_controller_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
)
endif()

ament_add_gmock(palette_builder_test
test/rviz_default_plugins/displays/map/palette_builder_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET palette_builder_test)
target_include_directories(palette_builder_test PRIVATE test)
target_link_libraries(palette_builder_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(path_display_test
test/rviz_default_plugins/displays/path/path_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET path_display_test)
target_include_directories(path_display_test PRIVATE test)
target_link_libraries(path_display_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
visualization_msgs::visualization_msgs
rviz_default_plugins
ogre_testing_environment
)
endif()

add_library(pointcloud_messages STATIC test/rviz_default_plugins/pointcloud_messages.cpp)
target_link_libraries(pointcloud_messages PRIVATE
sensor_msgs::sensor_msgs
rclcpp::rclcpp
)

ament_add_gmock(point_cloud2_display_test
test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET point_cloud2_display_test)
target_include_directories(point_cloud2_display_test PRIVATE test)
target_link_libraries(point_cloud2_display_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
pointcloud_messages
)
endif()

ament_add_gmock(point_cloud_common_test
test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET point_cloud_common_test)
target_include_directories(point_cloud_common_test PRIVATE test)
target_link_libraries(point_cloud_common_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
pointcloud_messages
)
endif()

ament_add_gmock(point_cloud_scalar_display_test
test/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET point_cloud_scalar_display_test)
target_include_directories(point_cloud_scalar_display_test PRIVATE test)
target_link_libraries(point_cloud_scalar_display_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
rviz_ogre_vendor::OgreMain
)
endif()

ament_add_gmock(point_cloud_transformers_test
test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/axis_color_pc_transformer_test.cpp
test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/flat_color_pc_transformer_test.cpp
test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/intensity_pc_transformer_test.cpp
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_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET point_cloud_transformers_test)
target_include_directories(point_cloud_transformers_test PRIVATE test)
target_link_libraries(point_cloud_transformers_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
pointcloud_messages
)
endif()

ament_add_gmock(point_display_test
test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET point_display_test)
target_include_directories(point_display_test PRIVATE test)
target_link_libraries(point_display_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
geometry_msgs::geometry_msgs
rviz_default_plugins
ogre_testing_environment
)
endif()

ament_add_gmock(pose_array_display_test
test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET pose_array_display_test)
target_include_directories(pose_array_display_test PRIVATE test)
target_link_libraries(pose_array_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(pose_tool_test
test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET pose_tool_test)
target_include_directories(pose_tool_test PRIVATE test)
target_link_libraries(pose_tool_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(range_display_test
test/rviz_default_plugins/displays/range/range_display_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET range_display_test)
target_include_directories(range_display_test PRIVATE test)
target_link_libraries(range_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(robot_test
test/rviz_default_plugins/robot/robot_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET robot_test)
target_include_directories(robot_test PRIVATE test)
target_link_libraries(robot_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
)
endif()

ament_add_gmock(ros_image_texture_test
test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET ros_image_texture_test)
target_include_directories(ros_image_texture_test PRIVATE test)
target_link_libraries(ros_image_texture_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
)
endif()

ament_add_gmock(selection_tool_test
test/rviz_default_plugins/tools/select/selection_tool_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET selection_tool_test)
target_include_directories(selection_tool_test PRIVATE test)
target_link_libraries(selection_tool_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
endif()

ament_add_gmock(xy_orbit_view_controller_test
test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
${TEST_FIXTURE_OBJECTS}
${SKIP_DISPLAY_TESTS})
if(TARGET xy_orbit_view_controller_test)
target_include_directories(xy_orbit_view_controller_test PRIVATE test)
target_link_libraries(xy_orbit_view_controller_test
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
)
endif()

ament_add_gmock(frame_transformer_tf_test
test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp
${TEST_FIXTURE_OBJECTS}
TIMEOUT 300
${SKIP_DISPLAY_TESTS})
if(TARGET frame_transformer_tf_test)
target_include_directories(frame_transformer_tf_test PRIVATE test)
target_link_libraries(frame_transformer_tf_test
if(TARGET rviz_default_plugins_display_tests)
target_include_directories(rviz_default_plugins_display_tests PRIVATE test)
target_link_libraries(rviz_default_plugins_display_tests
${TEST_FIXTURE_WITH_MOCK_LIBRARIES}
rviz_default_plugins
ogre_testing_environment
marker_messages
pointcloud_messages
geometry_msgs::geometry_msgs
visualization_msgs::visualization_msgs
Qt${QT_VERSION_MAJOR}::Widgets
rviz_ogre_vendor::OgreMain
)
endif()

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