Fix CI

Author: dyackzan

include/behaviortree_cpp/blackboard.h

@@ -40,7 +40,18 @@ struct is_vector<std::vector<T, A>> : std::true_type
 // Helper function to check if a demangled type string is a std::vector<..>
 inline bool isVector(const std::string& type_name)
 {
-  return std::regex_match(type_name, std::regex(R"(^std::vector<.*>$)"));
+  // Strip leading MSVC qualifiers "class " or "struct ".
+  std::string name = type_name;
+  constexpr auto strip_prefix = [](std::string &s, const char *prefix) {
+    size_t len = std::strlen(prefix);
+    if (s.rfind(prefix, 0) == 0)
+      s.erase(0, len);
+  };
+  strip_prefix(name, "class ");
+  strip_prefix(name, "struct ");
+
+  // Use regex to check if the name matches 'std::vector<...>'.
+  return std::regex_match(name, std::regex(R"(^std::vector<.*>$)"));
 }
 
 /**

tests/CMakeLists.txt

@@ -36,9 +36,9 @@ set(BT_TESTS
 
 if(ament_cmake_FOUND)
 
-    find_package(ament_cmake_gmock REQUIRED)
+    find_package(ament_cmake_gtest REQUIRED)
 
-    ament_add_gmock(${BTCPP_LIBRARY}_test ${BT_TESTS})
+    ament_add_gtest(${BTCPP_LIBRARY}_test ${BT_TESTS})
     target_link_libraries(${BTCPP_LIBRARY}_test
         ${TEST_DEPENDECIES}
         ${ament_LIBRARIES})

tests/gtest_json.cpp

@@ -147,7 +147,7 @@ TEST_F(JsonTest, TwoWaysConversion)
   ASSERT_EQ(string_val, "string_val");
   auto int_val = exporter.fromJson(json["int"])->first.cast<int>();
   ASSERT_EQ(int_val, 69);
-  auto uint_val = exporter.fromJson(json["uint"])->first.cast<uint>();
+  auto uint_val = exporter.fromJson(json["uint"])->first.cast<uint64_t>();
   ASSERT_EQ(uint_val, 96);
   auto real = exporter.fromJson(json["real"])->first.cast<double>();
   ASSERT_EQ(real, 3.14);

tests/gtest_ports.cpp

@@ -855,7 +855,7 @@ TEST(PortTest, VectorAny)
   ASSERT_NO_THROW(status = tree.tickOnce());
   ASSERT_EQ(status, NodeStatus::SUCCESS);
 
-  // Test that setting a port as a vector<string> and attempting to retrie it as a vector<double> fails.
+  // Test that setting a port as a vector<string> and attempting to retrieve it as a vector<double> fails.
   ASSERT_NO_THROW(tree = factory.createTreeFromText(xml_txt_bad));
 
   ASSERT_NO_THROW(status = tree.tickOnce());