Add support to build and run unit tests with catkin

Author: LukasWoodtli

.travis.yml

@@ -3,7 +3,7 @@ env:
     - CCACHE_DIR=$HOME/.ccache
     - CMAKE_BUILD="mkdir Build; cd Build; cmake ..; make -j$(nproc) -l$(nproc)"
     - CMAKE_UNIT_TEST_BUILD="mkdir Build; cd Build; cmake -DENABLE_UNIT_TESTS=On ..; make -j$(nproc) -l$(nproc); make -j$(nproc) test"
-    - CATKIN_BUILD="mkdir -p ~/catkin_ws/src; cd ~/catkin_ws; catkin init; ln -s ${TRAVIS_BUILD_DIR} src; catkin build -j$(nproc) -l$(nproc) -DBUILD_ROS_INTERFACE=ON"
+    - CATKIN_BUILD="mkdir -p ~/catkin_ws/src; cd ~/catkin_ws; catkin init; ln -s ${TRAVIS_BUILD_DIR} src; catkin build -j$(nproc) -l$(nproc) -DBUILD_ROS_INTERFACE=ON; cd build/mavlink_sitl_gazebo/; catkin run_tests"
     - KINETIC="source /opt/ros/kinetic/setup.bash; ${CATKIN_BUILD}"
     - MELODIC="source /opt/ros/melodic/setup.bash; ${CATKIN_BUILD}"
 

README.md

@@ -135,7 +135,23 @@ sudo cp *.a /usr/lib
 
 Building the tests on an other platform than Linux is not yet supported.
 
-For building the tests, the flag `ENABLE_UNIT_TESTS` needs to be provided to cmake.
+When writing test it’s important to be careful which API functions of Gazebo are called. As no Gazebo server is running during the tests some functions can produce undefined behaviour (e.g. segfaults).
+
+
+### catkin
+
+With catkin the test are enabled by defult.
+
+```bash
+# After setting up the catkin workspace
+catkin build -j4 -l4 -DBUILD_ROS_INTERFACE=ON
+cd build/mavlink_sitl_gazebo/
+catkin run_tests
+```
+
+### Plain CMake
+
+For building the tests with plain CMake, the flag `ENABLE_UNIT_TESTS` needs to be provided.
 
 ```bash
 mkdir build && cd build
@@ -148,8 +164,6 @@ Then build and run the tests:
 make && make test
 ```
 
-When writing test it’s important to be careful which API functions of Gazebo are called. As no Gazebo server is running during the tests some functions can produce undefined behaviour (e.g. segfaults).
-
 ## Packaging
 
 ### Deb

package.xml

@@ -36,7 +36,7 @@
   <!-- Use run_depend for packages you need at runtime: -->
   <!-- <run_depend>message_runtime</run_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
-  <!-- <test_depend>gtest</test_depend> -->
+  <test_depend>gtest</test_depend>
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>gazebo_ros</buildtool_depend>
   <build_depend>eigen</build_depend>

unit_tests/CMakeLists.txt

@@ -1,24 +1,39 @@
 
-if(ENABLE_UNIT_TESTS)
 
-    # Gimbal controller plugin
-    add_executable(gazebo_gimbal_controller_plugin_test gazebo_gimbal_controller_plugin_test.cpp)
+if(ENABLE_UNIT_TESTS OR CATKIN_ENABLE_TESTING)
 
-    target_link_libraries(gazebo_gimbal_controller_plugin_test
-        PRIVATE gazebo_gimbal_controller_plugin
-                ${GTEST_BOTH_LIBRARIES}
-                ${CMAKE_THREAD_LIBS_INIT})
+# Uniform way to add unit tests. This works with catkin and with plain CMake.
+function(add_unit_test target) # add sources as ARGN
 
-    add_test(gazebo_gimbal_controller_plugin_test gazebo_gimbal_controller_plugin_test)
+    if(ENABLE_UNIT_TESTS)
 
-    # GPS plugin
-    add_executable(gazebo_gps_plugin_test gazebo_gps_plugin_test.cpp)
+        # Plain CMake to add google test
+        add_executable(${target} ${ARGN})
+        add_test(${target} ${target})
+
+    elseif(CATKIN_ENABLE_TESTING)
+
+        # Catkin google test facilities
+        catkin_add_gtest(${target} ${ARGN})
+
+    endif(ENABLE_UNIT_TESTS)
+
+    # Link the gtest libraries in any case
+    target_link_libraries(${target} ${GTEST_BOTH_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
+
+endfunction(add_unit_test)
 
-    target_link_libraries(gazebo_gps_plugin_test
-        PRIVATE gazebo_gps_plugin
-                ${GTEST_BOTH_LIBRARIES}
-                ${CMAKE_THREAD_LIBS_INIT})
 
-    add_test(gazebo_gps_plugin_test gazebo_gps_plugin_test)
+# Add the tests
+
+
+    # Gimbal controller plugin
+    add_unit_test(gazebo_gimbal_controller_plugin_test gazebo_gimbal_controller_plugin_test.cpp)
+    target_link_libraries(gazebo_gimbal_controller_plugin_test gazebo_gimbal_controller_plugin)
+
+    # GPS plugin
+    add_unit_test(gazebo_gps_plugin_test gazebo_gps_plugin_test.cpp)
+    target_link_libraries(gazebo_gps_plugin_test gazebo_gps_plugin)
+
 
-endif(ENABLE_UNIT_TESTS)
+endif(ENABLE_UNIT_TESTS OR CATKIN_ENABLE_TESTING)