From 2c517c3e9a74cb5faf39c51b11ef2cb93196fb2e Mon Sep 17 00:00:00 2001
From: Louise Poubel <burajiru.no.chapulina@gmail.com>
Date: Tue, 19 Oct 2021 08:25:40 -0700
Subject: [PATCH] Test tweaks (#42)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 dolly/package.xml                             |  1 +
 dolly_ignition/launch/dolly.launch.py         |  1 +
 dolly_tests/CMakeLists.txt                    |  1 -
 .../launch/follow_ignition_TEST.launch.py     | 32 +++++++++----------
 dolly_tests/package.xml                       |  7 ++++
 dolly_tests/test/constants.hh.in              |  1 -
 dolly_tests/test/follow_ignition_TEST.cpp     |  2 +-
 7 files changed, 26 insertions(+), 19 deletions(-)

diff --git a/dolly/package.xml b/dolly/package.xml
index d6d469f..b169601 100644
--- a/dolly/package.xml
+++ b/dolly/package.xml
@@ -14,6 +14,7 @@
   <exec_depend>dolly_follow</exec_depend>
   <exec_depend>dolly_gazebo</exec_depend>
   <exec_depend>dolly_ignition</exec_depend>
+  <exec_depend>dolly_tests</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/dolly_ignition/launch/dolly.launch.py b/dolly_ignition/launch/dolly.launch.py
index ea49368..f8ee54e 100644
--- a/dolly_ignition/launch/dolly.launch.py
+++ b/dolly_ignition/launch/dolly.launch.py
@@ -39,6 +39,7 @@ def generate_launch_description():
     )
 
     # Spawn dolly
+    # TODO: expose pose as a launch argument
     spawn = Node(package='ros_ign_gazebo', executable='create',
                  arguments=[
                     '-name', 'dolly',
diff --git a/dolly_tests/CMakeLists.txt b/dolly_tests/CMakeLists.txt
index 0025204..400972a 100644
--- a/dolly_tests/CMakeLists.txt
+++ b/dolly_tests/CMakeLists.txt
@@ -32,7 +32,6 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
   ament_find_gtest()
 
-  set("PROJECT_BINARY_PATH" ${CMAKE_CURRENT_BINARY_DIR})
   set("PROJECT_SOURCE_PATH" ${CMAKE_CURRENT_SOURCE_DIR})
   configure_file(test/constants.hh.in constants.hh @ONLY)
 
diff --git a/dolly_tests/launch/follow_ignition_TEST.launch.py b/dolly_tests/launch/follow_ignition_TEST.launch.py
index aa0138c..541ef5b 100644
--- a/dolly_tests/launch/follow_ignition_TEST.launch.py
+++ b/dolly_tests/launch/follow_ignition_TEST.launch.py
@@ -27,6 +27,13 @@
 
 def generate_test_description():
 
+    # Test fixture
+    gazebo_test_fixture = Node(
+        package='dolly_tests',
+        executable='follow_ignition_TEST',
+        output='screen'
+    )
+
     # Spawn dolly
     pkg_dolly_ignition = get_package_share_directory('dolly_ignition')
     spawn = Node(package='ros_ign_gazebo', executable='create',
@@ -37,6 +44,15 @@ def generate_test_description():
                                           'model.sdf')],
                  output='screen')
 
+    # Bridge
+    bridge = Node(
+        package='ros_ign_bridge',
+        executable='parameter_bridge',
+        arguments=['/dolly/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
+                   '/dolly/laser_scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan'],
+        output='screen'
+    )
+
     # Follow node
     follow = Node(
         package='dolly_follow',
@@ -48,22 +64,6 @@ def generate_test_description():
         ]
     )
 
-    # Bridge
-    bridge = Node(
-        package='ros_ign_bridge',
-        executable='parameter_bridge',
-        arguments=['/dolly/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
-                   '/dolly/laser_scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
-                   '/dolly/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry'],
-        output='screen'
-    )
-
-    # Test
-    gazebo_test_fixture = Node(
-        package='dolly_tests',
-        executable='follow_ignition_TEST',
-        output='screen'
-    )
 
     return launch.LaunchDescription([
         gazebo_test_fixture,
diff --git a/dolly_tests/package.xml b/dolly_tests/package.xml
index 4a21f59..098e44d 100644
--- a/dolly_tests/package.xml
+++ b/dolly_tests/package.xml
@@ -11,13 +11,20 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <!-- ament -->
   <depend>ament_cmake_gtest</depend>
   <depend>ament_lint_auto</depend>
   <depend>ament_lint_common</depend>
+
+  <!-- dolly -->
   <depend>dolly_follow</depend>
   <depend>dolly_ignition</depend>
+
+  <!-- ROS launch -->
   <depend>launch_testing</depend>
   <depend>ros2launch</depend>
+
+  <!-- gazebo -->
   <depend>ros_ign_bridge</depend>
 
   <!-- Fortress -->
diff --git a/dolly_tests/test/constants.hh.in b/dolly_tests/test/constants.hh.in
index f3c09e7..2bd31f7 100644
--- a/dolly_tests/test/constants.hh.in
+++ b/dolly_tests/test/constants.hh.in
@@ -14,7 +14,6 @@
 
 #ifndef DOLLY_TESTS__CONSTANTS_HH__
 #define DOLLY_TESTS__CONSTANTS_HH__
-#cmakedefine PROJECT_BINARY_PATH "@PROJECT_BINARY_PATH@"
 #cmakedefine PROJECT_SOURCE_PATH "@PROJECT_SOURCE_PATH@"
 #endif
 
diff --git a/dolly_tests/test/follow_ignition_TEST.cpp b/dolly_tests/test/follow_ignition_TEST.cpp
index 1a31f2d..6d15710 100644
--- a/dolly_tests/test/follow_ignition_TEST.cpp
+++ b/dolly_tests/test/follow_ignition_TEST.cpp
@@ -161,7 +161,7 @@ TEST(DollyTests, Follow)
   EXPECT_NE(ignition::gazebo::kNullEntity, targetEntity);
   EXPECT_LT(0u, dollyPoses.size());
 
-  // Dolly hasn't moved, because simulation is paused
+  // Dolly hasn't moved yet
   {
     const auto & pose = dollyPoses.back();
     EXPECT_NEAR(0.0, pose.Pos().X(), 1e-3);