Use CMake macro for behavior test configuration (#379)

PickNikRobotics · Oct 8, 2024 · 18d42ce · 18d42ce
1 parent 6bd5ca5
commit 18d42ce
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Showing 4 changed files with 4 additions and 15 deletions.
diff --git a/src/example_behaviors/call_my_service_solution/CMakeLists.txt b/src/example_behaviors/call_my_service_solution/CMakeLists.txt
@@ -35,11 +35,7 @@ install(
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  add_subdirectory(test)
-  target_compile_options(call_my_service PRIVATE -fprofile-arcs -ftest-coverage)
-  target_link_options(call_my_service PRIVATE -fprofile-arcs -ftest-coverage)
+  moveit_pro_behavior_test(call_my_service)
 endif()
 
 # Export the behavior plugins defined in this package so they are available to

diff --git a/src/example_behaviors/translate_pose_solution/CMakeLists.txt b/src/example_behaviors/translate_pose_solution/CMakeLists.txt
@@ -38,11 +38,7 @@ install(
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  add_subdirectory(test)
-  target_compile_options(translate_pose PRIVATE -fprofile-arcs -ftest-coverage)
-  target_link_options(translate_pose PRIVATE -fprofile-arcs -ftest-coverage)
+  moveit_pro_behavior_test(translate_pose)
 endif()
 
 # Export the behavior plugins defined in this package so they are available to

diff --git a/src/external_dependencies/picknik_registration b/src/external_dependencies/picknik_registration
diff --git a/src/picknik_ur_site_config/behaviors/CMakeLists.txt b/src/picknik_ur_site_config/behaviors/CMakeLists.txt
@@ -20,10 +20,7 @@ ament_target_dependencies(trigger_pstop_reset_service
         ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 if(BUILD_TESTING)
-  add_subdirectory(test)
-  # Add coverage flags behavior
-  target_compile_options(trigger_pstop_reset_service PRIVATE -fprofile-arcs -ftest-coverage)
-  target_link_options(trigger_pstop_reset_service PRIVATE -fprofile-arcs -ftest-coverage)
+  moveit_pro_behavior_test(trigger_pstop_reset_service)
 endif()
 
 # Install Libraries