Merge pull request #36 from NVIDIA-ISAAC-ROS/release-3.2

Author: jaiveersinghNV

isaac_ros_segment_anything/CMakeLists.txt

@@ -59,13 +59,22 @@ install(PROGRAMS scripts/visualize_mask.py DESTINATION lib/${PROJECT_NAME})
 
 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)
+
   # Gtests for segment anything data encoder node
   ament_add_gtest(segment_anything_data_encoder_node_test test/segment_anything_data_encoder_node_test.cpp)
   target_link_libraries(segment_anything_data_encoder_node_test segment_anything_data_encoder_node)
   target_include_directories(segment_anything_data_encoder_node_test PUBLIC include/isaac_ros_segment_anything/)
-  target_include_directories(segment_anything_data_encoder_node_test PUBLIC /usr/src/googletest/googlemock/include/)
   ament_target_dependencies(segment_anything_data_encoder_node_test rclcpp)
   ament_target_dependencies(segment_anything_data_encoder_node_test isaac_ros_nitros)
 

isaac_ros_segment_anything/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_segment_anything</name>
-  <version>3.2.5</version>
+  <version>3.2.10</version>
   <description>Segment Anything model processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_unet/CMakeLists.txt

@@ -37,13 +37,22 @@ set_target_properties(unet_decoder_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  unet decoder node
   ament_add_gtest(unet_decoder_node_test test/unet_decoder_node_test.cpp)
   target_link_libraries(unet_decoder_node_test unet_decoder_node)
   target_include_directories(unet_decoder_node_test PUBLIC include/isaac_ros_unet/)
-  target_include_directories(unet_decoder_node_test PUBLIC /usr/src/googletest/googlemock/include/)
   ament_target_dependencies(unet_decoder_node_test rclcpp)
   ament_target_dependencies(unet_decoder_node_test isaac_ros_nitros)
 

isaac_ros_unet/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_unet</name>
-  <version>3.2.5</version>
+  <version>3.2.10</version>
   <description>U-Net model processing</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>