Cleanup and use correct cmake macros

henningkayser · Oct 5, 2021 · 3bc3ad0 · 3bc3ad0
1 parent a3ddd2f
commit 3bc3ad0
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Showing 6 changed files with 10 additions and 64 deletions.
diff --git a/..._motion_planner/include/pilz_industrial_motion_planner/joint_limits_interface_extension.h b/..._motion_planner/include/pilz_industrial_motion_planner/joint_limits_interface_extension.h
@@ -319,7 +319,6 @@ inline bool getJointLimits(const std::string& joint_name, const rclcpp::Node::Sh
     return false;  // LCOV_EXCL_LINE // The case where getJointLimits returns
                    // false is covered above.
   }
-
   try
   {
     // Deceleration limits
@@ -328,7 +327,7 @@ inline bool getJointLimits(const std::string& joint_name, const rclcpp::Node::Sh
     if (limits.has_deceleration_limits)
     {
       limits.max_deceleration =
-          node->declare_parameter(limits_namespace + ".max_deceleration", limits.max_deceleration);
+          node->declare_parameter(limits_namespace + ".max_deceleration", std::numeric_limits<double>::quiet_NaN());
     }
   }
   catch (const std::exception& ex)

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limits_aggregator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limits_aggregator.cpp
@@ -58,15 +58,16 @@ bool declareAndGetParam(double& output_value, const std::string& param_name, con
     node->get_parameter<double>(param_name, output_value);
     if (std::isnan(output_value))
     {
-      RCLCPP_ERROR(node->get_logger(), "Parameter \'%s\', is not set in the config file.", param_name);
+      RCLCPP_ERROR(node->get_logger(), "Parameter \'%s\', is not set in the config file.", param_name.c_str());
       return false;
     }
     return true;
   }
   catch (const rclcpp::exceptions::InvalidParameterTypeException& e)
   {
-    RCLCPP_WARN(node->get_logger(), "InvalidParameterTypeException(\'%s\'): ", param_name, e.what());
-    RCLCPP_ERROR(node->get_logger(), "Error getting parameter \'%s\', check parameter type in YAML file", param_name);
+    RCLCPP_WARN(node->get_logger(), "InvalidParameterTypeException(\'%s\'): %s", param_name.c_str(), e.what());
+    RCLCPP_ERROR(node->get_logger(), "Error getting parameter \'%s\', check parameter type in YAML file",
+                 param_name.c_str());
     throw e;
   }
 }

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/CMakeLists.txt b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/CMakeLists.txt
@@ -20,22 +20,21 @@ set(UNIT_TEST_SOURCEFILES
 )
 
 # Direct Command Planner Unit Test
-ament_add_gtest_executable(unittest_pilz_industrial_motion_planner_direct
+ament_add_gtest(unittest_pilz_industrial_motion_planner_direct
   src/unittest_pilz_industrial_motion_planner.cpp
   ${CMAKE_SOURCE_DIR}/src/planning_context_loader_ptp.cpp)
 target_link_libraries(unittest_pilz_industrial_motion_planner_direct ${PROJECT_NAME}_lib ${PROJECT_NAME}_testhelpers)
 
 # Asymmetric Trapezoidal Velocity Profile Unit Test
-ament_add_gtest_executable(unittest_velocity_profile_atrap
+ament_add_gtest(unittest_velocity_profile_atrap
   src/unittest_velocity_profile_atrap.cpp
   ${CMAKE_SOURCE_DIR}/src/velocity_profile_atrap.cpp)
 target_link_libraries(unittest_velocity_profile_atrap ${PROJECT_NAME}_lib)
 
 # Trajectory Generator Unit Test
-ament_add_gtest_executable(unittest_trajectory_generator
+ament_add_gtest(unittest_trajectory_generator
   src/unittest_trajectory_generator.cpp
   ${CMAKE_SOURCE_DIR}/src/trajectory_generator.cpp)
-ament_target_dependencies(unittest_trajectory_generator rclcpp ${PROJECT_NAME}_testutils)
 target_link_libraries(unittest_trajectory_generator ${PROJECT_NAME}_lib)
 
 #   # Trajectory Functions Unit Test
@@ -126,12 +125,12 @@ add_ros_test(launch/unittest_joint_limit.test.py ARGS "test_binary_dir:=${CMAKE_
 #   )
 
 # JointLimitsContainer Unit Test
-ament_add_gtest_executable(unittest_joint_limits_container
+ament_add_gtest(unittest_joint_limits_container
   src/unittest_joint_limits_container.cpp)
 target_link_libraries(unittest_joint_limits_container ${PROJECT_NAME}_lib)
 
 # JointLimitsValidator Unit Test
-ament_add_gtest_executable(unittest_joint_limits_validator
+ament_add_gtest(unittest_joint_limits_validator
   src/unittest_joint_limits_validator.cpp)
 target_link_libraries(unittest_joint_limits_validator ${PROJECT_NAME}_lib)
 

diff --git a/...strial_motion_planner/test/unit_tests/launch/unittest_pilz_industrial_motion_planner.test b/...strial_motion_planner/test/unit_tests/launch/unittest_pilz_industrial_motion_planner.test
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_joint_limit.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_joint_limit.cpp
@@ -65,10 +65,6 @@ TEST_F(JointLimitTest, SimpleRead)
 
   EXPECT_EQ(1, joint_limits_extended.max_acceleration);
   EXPECT_EQ(-1, joint_limits_extended.max_deceleration);
-  EXPECT_EQ(1, joint_limits_extended.max_acceleration);
-  EXPECT_EQ(-1, joint_limits_extended.max_deceleration);
-  EXPECT_EQ(1, joint_limits_extended.max_acceleration);
-  EXPECT_EQ(-1, joint_limits_extended.max_deceleration);
 }
 
 TEST_F(JointLimitTest, readNonExistingJointLimit)

diff --git a/...s/pilz_industrial_motion_planner/test/unit_tests/src/unittest_joint_limits_aggregator.cpp b/...s/pilz_industrial_motion_planner/test/unit_tests/src/unittest_joint_limits_aggregator.cpp
@@ -202,7 +202,6 @@ TEST_F(JointLimitsAggregator, LimitsViolationVelocity)
 
 int main(int argc, char** argv)
 {
-  ros::init(argc, argv, "unittest_joint_limits_aggregator");
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
 }