Merge pull request #161 from KumarRobotics/noetic

Added rostest for SO3ControlNodelet
KumarRobotics · Mar 12, 2024 · 770d2d6 · 770d2d6
2 parents fd1d83c + e7ce750
commit 770d2d6
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Showing 7 changed files with 730 additions and 11 deletions.
diff --git a/.github/workflows/build.yml → .github/workflows/build_and_test.yml b/.github/workflows/build.yml → .github/workflows/build_and_test.yml
@@ -1,4 +1,4 @@
-name: build
+name: build-and-test
 
 on:
   push:
@@ -20,7 +20,7 @@ jobs:
       - name: Install dependencies
         run: |
           apt-get update
-          apt-get install -qy g++ libeigen3-dev
+          apt-get install -qy g++ libeigen3-dev python3-catkin-tools
           rosdep update
           rosdep install --from-paths . --ignore-src -y -r --as-root apt:false
 
@@ -32,9 +32,11 @@ jobs:
           ln -s ${GITHUB_WORKSPACE}
           catkin_init_workspace .
 
-      - name: Build workspace
+      - name: Build workspace and run tests
         run: |
           . /opt/ros/${{ matrix.ros_distro }}/setup.sh
           cd ${RUNNER_WORKSPACE}/catkin_ws
           export LDFLAGS="-Wl,-O1,--sort-common,--as-needed,--no-undefined,-z,relro,-z,now -pthread"
-          catkin_make -DCMAKE_BUILD_TYPE=NONE
+          catkin build -j4 --no-status -DCMAKE_BUILD_TYPE=Release
+          . ${RUNNER_WORKSPACE}/catkin_ws/devel/setup.sh
+          catkin test
diff --git a/.github/workflows/cpplint.yml b/.github/workflows/cpplint.yml
@@ -10,14 +10,14 @@ jobs:
       with:
         github_token: ${{ secrets.github_token }}
         reporter: github-pr-review
-        flags: --linelength=120 # Optional
-        filter: "-whitespace/braces \"
-          ,-whitespace/parens"
-        #"-readability/braces\
-        #   ,-whitespace/braces\
+        flags: --linelength=120
+        filter: "-readability/braces\
+          ,-whitespace/braces\
+          ,-whitespace/parens\
+          ,-whitespace/newline\
+          ,-build/c++11"
+        #   -readability/braces\
         #   ,-whitespace/comments\
         #   ,-whitespace/indent\
-        #   ,-whitespace/newline\
         #   ,-whitespace/operators\
-        #   ,-whitespace/parens\
         #   " # Optional
diff --git a/kr_mav_controllers/CMakeLists.txt b/kr_mav_controllers/CMakeLists.txt
@@ -61,3 +61,23 @@ install(
 install(FILES nodelet_plugin.xml
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    std_msgs
+    nav_msgs
+    kr_mav_msgs
+    rostest
+  )
+
+  include_directories(include ${catkin_INCLUDE_DIRS})
+  include_directories(${GTEST_INCLUDE_DIRS})
+
+  add_executable(so3_control_nodelet_test test/so3_control_nodelet_test.cpp)
+  # add_rostest_gtest(so3_control_nodelet_test test/so3_control_nodelet.test test/so3_control_nodelet_test.cpp)
+  target_link_libraries(so3_control_nodelet_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+
+  add_rostest(test/so3_control_nodelet.test)
+
+endif()