Update gmock and gtest usage

Author: jaiveersinghNV

isaac_ros_bi3d_freespace/CMakeLists.txt

@@ -37,13 +37,22 @@ set_target_properties(freespace_segmentation_node PROPERTIES
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  # Force use of ROS2 vendor googletest to avoid version conflicts
+  set(CMAKE_IGNORE_PATH "/usr/src/googletest" ${CMAKE_IGNORE_PATH})
+  set(CMAKE_IGNORE_PATH "/usr/include/gtest" ${CMAKE_IGNORE_PATH})
+  set(CMAKE_IGNORE_PATH "/usr/include/gmock" ${CMAKE_IGNORE_PATH})
+
+  # Explicitly use ROS2 vendor googletest/gmock
+  include_directories(BEFORE /opt/ros/humble/src/gtest_vendor/include)
+  include_directories(BEFORE /opt/ros/humble/src/gmock_vendor/include)
+
   # Gtest for freespace segmentation node
   ament_add_gtest(freespace_segmentation_node_test test/freespace_segmentation_node_test.cpp)
   target_link_libraries(freespace_segmentation_node_test freespace_segmentation_node)
   target_include_directories(freespace_segmentation_node_test PUBLIC include/isaac_ros_bi3d_freespace/)
-  target_include_directories(freespace_segmentation_node_test PUBLIC /usr/src/googletest/googlemock/include/)
   ament_target_dependencies(freespace_segmentation_node_test rclcpp)
   ament_target_dependencies(freespace_segmentation_node_test isaac_ros_nitros)
 

isaac_ros_bi3d_freespace/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_bi3d_freespace</name>
-  <version>3.2.5</version>
+  <version>3.2.10</version>
   <description>Freespace segmentation using the Bi3D inference network for ROS</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>