Use target_compile_definitions instead of installing test files (#2009)

Author: saikishor

controller_interface/CMakeLists.txt

@@ -45,11 +45,12 @@ if(BUILD_TESTING)
   )
 
   ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
-  install(FILES test/test_controller_node_options.yaml
-      DESTINATION test)
   target_link_libraries(test_controller_with_options
     controller_interface
   )
+  target_compile_definitions(
+    test_controller_with_options
+    PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")
 
   ament_add_gmock(test_chainable_controller_interface test/test_chainable_controller_interface.cpp)
   target_link_libraries(test_chainable_controller_interface

controller_interface/test/test_controller_with_options.cpp

@@ -16,7 +16,6 @@
 
 #include <gtest/gtest.h>
 #include <string>
-#include "ament_index_cpp/get_package_prefix.hpp"
 
 class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
 {
@@ -95,8 +94,8 @@ TEST(ControllerWithOption, init_with_node_options_arguments_parameters_file)
   rclcpp::init(argc, argv);
   // creates the controller
   FriendControllerWithOptions controller;
-  const std::string params_file_path = ament_index_cpp::get_package_prefix("controller_interface") +
-                                       "/test/test_controller_node_options.yaml";
+  const std::string params_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_node_options.yaml");
   std::cerr << params_file_path << std::endl;
   auto controller_node_options = controller.define_custom_node_options();
   controller_node_options.arguments({"--ros-args", "--params-file", params_file_path});
@@ -129,8 +128,8 @@ TEST(
   rclcpp::init(argc, argv);
   // creates the controller
   FriendControllerWithOptions controller;
-  const std::string params_file_path = ament_index_cpp::get_package_prefix("controller_interface") +
-                                       "/test/test_controller_node_options.yaml";
+  const std::string params_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_node_options.yaml");
   std::cerr << params_file_path << std::endl;
   auto controller_node_options = controller.define_custom_node_options();
   controller_node_options.arguments(

controller_manager/CMakeLists.txt

@@ -11,7 +11,6 @@ endif()
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
-  ament_index_cpp
   controller_interface
   controller_manager_msgs
   diagnostic_updater
@@ -201,6 +200,9 @@ if(BUILD_TESTING)
     test_controller
     ros2_control_test_assets::ros2_control_test_assets
   )
+  target_compile_definitions(
+    test_spawner_unspawner
+    PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/")
 
   ament_add_gmock(test_hardware_spawner
     test/test_hardware_spawner.cpp
@@ -212,14 +214,6 @@ if(BUILD_TESTING)
     ros2_control_test_assets::ros2_control_test_assets
   )
 
-  install(FILES
-          test/test_controller_spawner_with_type.yaml
-          test/test_controller_overriding_parameters.yaml
-          test/test_controller_spawner_with_fallback_controllers.yaml
-          test/test_controller_spawner_wildcard_entries.yaml
-          test/test_controller_spawner_with_interfaces.yaml
-          DESTINATION test)
-
   ament_add_gmock(test_hardware_management_srvs
     test/test_hardware_management_srvs.cpp
   )

controller_manager/package.xml

@@ -12,7 +12,6 @@
   <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>ament_index_cpp</depend>
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>controller_manager_msgs</depend>

controller_manager/test/test_spawner_unspawner.cpp

@@ -257,8 +257,8 @@ TEST_F(TestLoadController, multi_ctrls_test_type_in_param)
 
 TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   cm_->set_parameter(rclcpp::Parameter(
     "ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
@@ -301,8 +301,8 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
 
 TEST_F(TestLoadController, spawner_test_type_in_params_file)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -368,8 +368,8 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
 
 TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_wildcard_entries.yaml";
+  const std::string test_file_path = std::string(PARAMETERS_FILE_PATH) +
+                                     std::string("test_controller_spawner_wildcard_entries.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -439,8 +439,8 @@ TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)
 
 TEST_F(TestLoadController, spawner_test_failed_activation_of_controllers)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_interfaces.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_interfaces.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -577,11 +577,9 @@ TEST_F(TestLoadController, unload_on_kill_activate_as_group)
 TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding)
 {
   const std::string main_test_file_path =
-    ament_index_cpp::get_package_prefix("controller_manager") +
-    "/test/test_controller_spawner_with_type.yaml";
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
   const std::string overriding_test_file_path =
-    ament_index_cpp::get_package_prefix("controller_manager") +
-    "/test/test_controller_overriding_parameters.yaml";
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_overriding_parameters.yaml");
 
   ControllerManagerRunner cm_runner(this);
   EXPECT_EQ(
@@ -631,11 +629,9 @@ TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding)
 TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding_reverse)
 {
   const std::string main_test_file_path =
-    ament_index_cpp::get_package_prefix("controller_manager") +
-    "/test/test_controller_overriding_parameters.yaml";
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_overriding_parameters.yaml");
   const std::string overriding_test_file_path =
-    ament_index_cpp::get_package_prefix("controller_manager") +
-    "/test/test_controller_spawner_with_type.yaml";
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   ControllerManagerRunner cm_runner(this);
   EXPECT_EQ(
@@ -684,8 +680,9 @@ TEST_F(TestLoadController, spawner_test_to_check_parameter_overriding_reverse)
 
 TEST_F(TestLoadController, spawner_test_fallback_controllers)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_fallback_controllers.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) +
+    std::string("test_controller_spawner_with_fallback_controllers.yaml");
 
   cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
   cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
@@ -1031,8 +1028,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, multi_ctrls_test_type_in_param)
 
 TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -1106,8 +1103,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
 TEST_F(
   TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file_deprecated_namespace_arg)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -1196,8 +1193,8 @@ TEST_F(
 
 TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_with_wildcard_entries_in_params_file)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -1263,8 +1260,8 @@ TEST_F(
   TestLoadControllerWithNamespacedCM,
   spawner_test_fail_namespaced_controllers_with_non_wildcard_entries)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
   ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
@@ -1303,11 +1300,11 @@ TEST_F(
 
 TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
   const std::string fallback_test_file_path =
-    ament_index_cpp::get_package_prefix("controller_manager") +
-    "/test/test_controller_spawner_with_fallback_controllers.yaml";
+    std::string(PARAMETERS_FILE_PATH) +
+    std::string("test_controller_spawner_with_fallback_controllers.yaml");
 
   cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
   cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
@@ -1370,11 +1367,11 @@ TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)
 
 TEST_F(TestLoadController, spawner_test_parsing_same_params_file_multiple_times)
 {
-  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
-                                     "/test/test_controller_spawner_with_type.yaml";
+  const std::string test_file_path =
+    std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
   const std::string fallback_test_file_path =
-    ament_index_cpp::get_package_prefix("controller_manager") +
-    "/test/test_controller_spawner_with_fallback_controllers.yaml";
+    std::string(PARAMETERS_FILE_PATH) +
+    std::string("test_controller_spawner_with_fallback_controllers.yaml");
 
   cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
   cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));