Obbart/universal_robots_ros_driver
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Added tests

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This commit is contained in:
Simon Rasmussen
2017-03-07 02:50:46 +01:00
parent 7828304e37
commit aa26bb5996
7 changed files with 383 additions and 10 deletions
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35
CMakeLists.txt
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@@ -1,6 +1,10 @@
cmake_minimum_required(VERSION 2.8.3)
project(ur_modern_driver)
add_definitions( -DROS_BUILD )
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
@@ -130,6 +134,8 @@ else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
endif()
set(CMAKE_CXX_FLAGS "-g -Wall -Wextra ${CMAKE_CXX_FLAGS}")
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
@@ -152,18 +158,26 @@ target_link_libraries(ur_hardware_interface
## Declare a C++ executable
set(${PROJECT_NAME}_SOURCES
src/ur_ros_wrapper.cpp
src/ros/rt_publisher.cpp
src/ur/stream.cpp
src/ur/robot_mode.cpp
src/ur/master_board.cpp
src/ur/rt_state.cpp
src/ur/messages.cpp
#src/ros_main.cpp
#src/ur_ros_wrapper.cpp
src/ur_driver.cpp
src/ur_realtime_communication.cpp
src/ur_communication.cpp
src/robot_state.cpp
src/robot_state_RT.cpp
src/do_output.cpp)
add_executable(ur_driver ${${PROJECT_NAME}_SOURCES})
add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(ur_driver
@@ -200,11 +214,12 @@ install(DIRECTORY include/${PROJECT_NAME}/
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_modern_driver.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
set(${PROJECT_NAME}_TEST_SOURCES
tests/ur/rt_state.cpp
tests/ur/robot_mode.cpp)
if (CATKIN_ENABLE_TESTING)
catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
endif()