Merge branch 'feature/unitcoverage_grid_map' into 'master'

[grid_map] Added cmake code coverage macro GitOrigin-RevId: d9e32d7a3a6e0c507a1759df2ba23e906a548e70
Russ76 · Aug 11, 2020 · 3517962 · 3517962
1 parent 270a9cc
commit 3517962
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Showing 25 changed files with 299 additions and 102 deletions.
diff --git a/grid_map_core/CMakeLists.txt b/grid_map_core/CMakeLists.txt
@@ -48,8 +48,9 @@ catkin_package(
 ## Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ## Declare a cpp library
@@ -129,14 +130,14 @@ if(TARGET ${PROJECT_NAME}-test)
   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 endif()
 
-##################
-# Code_coverage ##
-##################
-
-find_package(cmake_code_coverage QUIET)
-if(cmake_code_coverage_FOUND)
-  add_gtest_coverage(
-    TEST_BUILD_TARGETS
-      ${PROJECT_NAME}-test
-  )
-endif(cmake_code_coverage_FOUND)
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_core/package.xml b/grid_map_core/package.xml
@@ -11,5 +11,5 @@
   <author email="[email protected]">Péter Fankhauser</author>
   <buildtool_depend>catkin</buildtool_depend>
   <depend>eigen</depend>
-  <test_depend>cmake_code_coverage</test_depend>
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
 </package>
diff --git a/grid_map_costmap_2d/CMakeLists.txt b/grid_map_costmap_2d/CMakeLists.txt
@@ -40,8 +40,9 @@ catkin_package(
 ## Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 #############
@@ -74,14 +75,14 @@ if(TARGET ${PROJECT_NAME}-test)
   target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES})
 endif()
 
-##################
-# Code_coverage ##
-##################
+###################
+## Code_coverage ##
+###################
 
-find_package(cmake_code_coverage QUIET)
-if(cmake_code_coverage_FOUND)
-  add_gtest_coverage(
-    TEST_BUILD_TARGETS
-      ${PROJECT_NAME}-test
-  )
-endif(cmake_code_coverage_FOUND)
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_costmap_2d/package.xml b/grid_map_costmap_2d/package.xml
@@ -13,5 +13,5 @@
   <depend>grid_map_core</depend>
   <depend>costmap_2d</depend>
   <depend>tf</depend>
-  <test_depend>cmake_code_coverage</test_depend>
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
 </package>
diff --git a/grid_map_cv/CMakeLists.txt b/grid_map_cv/CMakeLists.txt
@@ -44,8 +44,9 @@ catkin_package(
 ## Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ## Declare a cpp library
@@ -105,14 +106,14 @@ if(TARGET ${PROJECT_NAME}-test)
   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 endif()
 
-##################
-# Code_coverage ##
-##################
-
-find_package(cmake_code_coverage QUIET)
-if(cmake_code_coverage_FOUND)
-  add_gtest_coverage(
-    TEST_BUILD_TARGETS
-      ${PROJECT_NAME}-test
-  )
-endif(cmake_code_coverage_FOUND)
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_cv/package.xml b/grid_map_cv/package.xml
@@ -13,7 +13,7 @@
   <depend>grid_map_core</depend>
   <depend>cv_bridge</depend>
   <depend>filters</depend>
-  <test_depend>cmake_code_coverage</test_depend>
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
   <export>
     <filters plugin="${prefix}/filter_plugins.xml" />
   </export>

diff --git a/grid_map_filters/CMakeLists.txt b/grid_map_filters/CMakeLists.txt
@@ -117,3 +117,39 @@ install(
   FILES filter_plugins.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+#############
+## Testing ##
+#############
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED)
+
+  include_directories(
+    include
+    SYSTEM
+      ${catkin_INCLUDE_DIRS}
+      ${TBB_INCLUDE_DIRS}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test
+    test/test_grid_map_filters.cpp
+  )
+
+  target_link_libraries(${PROJECT_NAME}-test
+    ${PROJECT_NAME}
+  )
+endif()
+
+
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_filters/package.xml b/grid_map_filters/package.xml
@@ -16,7 +16,7 @@
   <depend>grid_map_msgs</depend>
   <depend>filters</depend>
   <depend>tbb</depend>
-
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
   <export>
     <filters plugin="${prefix}/filter_plugins.xml" />
   </export>

diff --git a/grid_map_filters/test/test_grid_map_filters.cpp b/grid_map_filters/test/test_grid_map_filters.cpp
@@ -0,0 +1,10 @@
+
+#include <gtest/gtest.h>
+
+using ::testing::InitGoogleTest;
+
+int main(int argc, char** argv) {
+  InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}
diff --git a/grid_map_loader/CMakeLists.txt b/grid_map_loader/CMakeLists.txt
@@ -37,8 +37,9 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ## Declare a cpp executable
@@ -66,3 +67,34 @@ install(
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+#############
+## Testing ##
+#############
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED)
+
+  include_directories(
+    include
+    SYSTEM
+      ${catkin_INCLUDE_DIRS}
+      ${EIGEN3_INCLUDE_DIRS}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test
+    test/test_grid_map_loader.cpp
+  )
+endif()
+
+
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_loader/package.xml b/grid_map_loader/package.xml
@@ -13,4 +13,5 @@
   <depend>roscpp</depend>
   <depend>grid_map_ros</depend>
   <depend>grid_map_msgs</depend>
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
 </package>
diff --git a/grid_map_loader/test/test_grid_map_loader.cpp b/grid_map_loader/test/test_grid_map_loader.cpp
@@ -0,0 +1,10 @@
+
+#include <gtest/gtest.h>
+
+using ::testing::InitGoogleTest;
+
+int main(int argc, char** argv) {
+  InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}
diff --git a/grid_map_octomap/CMakeLists.txt b/grid_map_octomap/CMakeLists.txt
@@ -40,14 +40,16 @@ if(${octomap_VERSION} VERSION_LESS 1.8) # ROS Indigo and Jade.
   add_definitions(-DOCTOMAP_VERSION_BEFORE_ROS_KINETIC)
   include_directories(
     include
-    ${catkin_INCLUDE_DIRS}
-    ${OCTOMAP_INCLUDE_DIR}
+    SYSTEM
+      ${catkin_INCLUDE_DIRS}
+      ${OCTOMAP_INCLUDE_DIR}
   )
 else() # ROS Kinetic and above.
   include_directories(
     include
-    ${catkin_INCLUDE_DIRS}
-    ${OCTOMAP_INCLUDE_DIRS}
+    SYSTEM
+      ${catkin_INCLUDE_DIRS}
+      ${OCTOMAP_INCLUDE_DIRS}
   )
 endif()
 
@@ -104,14 +106,14 @@ if(TARGET ${PROJECT_NAME}-test)
   )
 endif()
 
-##################
-# Code_coverage ##
-##################
-
-find_package(cmake_code_coverage QUIET)
-if(cmake_code_coverage_FOUND)
-  add_gtest_coverage(
-    TEST_BUILD_TARGETS
-      ${PROJECT_NAME}-test
-  )
-endif(cmake_code_coverage_FOUND)
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_octomap/package.xml b/grid_map_octomap/package.xml
@@ -13,5 +13,5 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>grid_map_core</depend>
   <depend>octomap</depend>
-  <test_depend>cmake_code_coverage</test_depend>
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
 </package>
diff --git a/grid_map_pcl/CMakeLists.txt b/grid_map_pcl/CMakeLists.txt
@@ -135,14 +135,14 @@ if(TARGET ${PROJECT_NAME}-test)
     ${catkin_LIBRARIES})
 endif()
 
-##################
-# Code_coverage ##
-##################
-
-find_package(cmake_code_coverage QUIET)
-if(cmake_code_coverage_FOUND)
-  add_gtest_coverage(
-    TEST_BUILD_TARGETS
-      ${PROJECT_NAME}-test
-  )
-endif(cmake_code_coverage_FOUND)
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)
diff --git a/grid_map_pcl/package.xml b/grid_map_pcl/package.xml
@@ -18,5 +18,5 @@
   <depend>pcl_ros</depend>
   <depend>roscpp</depend>
   <depend>yaml-cpp</depend>
-  <test_depend>cmake_code_coverage</test_depend>
+  <!-- <test_depend>cmake_code_coverage</test_depend> -->
 </package>
diff --git a/grid_map_ros/CMakeLists.txt b/grid_map_ros/CMakeLists.txt
@@ -59,8 +59,9 @@ catkin_package(
 ## Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
 )
 
 ## Declare a cpp library
@@ -114,14 +115,14 @@ if(TARGET ${PROJECT_NAME}-test)
   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 endif()
 
-##################
-# Code_coverage ##
-##################
-
-find_package(cmake_code_coverage QUIET)
-if(cmake_code_coverage_FOUND)
-  add_gtest_coverage(
-    TEST_BUILD_TARGETS
-      ${PROJECT_NAME}-test
-  )
-endif(cmake_code_coverage_FOUND)
+###################
+## Code_coverage ##
+###################
+
+# find_package(cmake_code_coverage QUIET)
+# if(cmake_code_coverage_FOUND)
+#   add_gtest_coverage(
+#     TEST_BUILD_TARGETS
+#       ${PROJECT_NAME}-test
+#   )
+# endif(cmake_code_coverage_FOUND)