Fix Buildfarm Tests (#23)

Author: DLu

dlux_global_planner/CMakeLists.txt

@@ -49,13 +49,6 @@ if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   catkin_add_gtest(kernel_test test/kernel_test.cpp)
   target_link_libraries(kernel_test dgp)
-
-  find_package(global_planner_tests)
-  include_directories(include ${global_planner_tests_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GTEST_INCLUDE_DIRS})
-  link_directories(${GTEST_LIBRARY_DIRS})
-
-  add_rostest_gtest(got test/global_oscillation_test.launch test/global_oscillation_test.cpp)
-  target_link_libraries(got dgp ${global_planner_tests_LIBRARIES} ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
 endif()
 
 install(TARGETS planner_node

dlux_global_planner/package.xml

@@ -18,7 +18,6 @@
   <depend>pluginlib</depend>
   <depend>roscpp</depend>
   <depend>visualization_msgs</depend>
-  <test_depend>global_planner_tests</test_depend>
   <test_depend>roslint</test_depend>
   <export>
     <nav_core2 plugin="${prefix}/nav_core2_plugins.xml"/>

dlux_global_planner/test/global_oscillation_test.launch

@@ -32,6 +32,9 @@ if (CATKIN_ENABLE_TESTING)
   # add_rostest_gtest(full_planner_test test/full_planner_test.launch test/full_planner_test.cpp)
   # target_link_libraries(full_planner_test ${global_planner_tests_LIBRARIES} ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
 
+  add_rostest_gtest(got test/global_oscillation_test.launch test/global_oscillation_test.cpp)
+  target_link_libraries(got ${global_planner_tests_LIBRARIES} ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+
   find_package(roslint)
   roslint_cpp()
   roslint_add_test()

dlux_plugins/CMakeLists.txt

@@ -42,7 +42,7 @@
 #include <string>
 #include <vector>
 
-const std::string map_path = "package://dlux_global_planner/test/robert_frost.png";
+const std::string map_path = "package://dlux_plugins/test/robert_frost.png";
 
 int barrier_x = 5;
 int barrier_y0 = 1;

dlux_global_planner/test/global_oscillation_test.cpp renamed to dlux_plugins/test/global_oscillation_test.cpp

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="global_oscillation_test" pkg="dlux_plugins" type="got" time-limit="300"/>
+</launch>

dlux_plugins/test/global_oscillation_test.launch

@@ -1,3 +1,5 @@
 <launch>
-  <test test-name="planner_test" pkg="dlux_plugins" type="planner_test" time-limit="300"/>
+  <!-- Planner Test contains 6 configurations, each of which can take over a minute on a shiny developer laptop. -->
+  <!-- Conservatively, we limit each configuration to 3 minutes, allowing for the slowness of buildfarms, etc.   -->
+  <test test-name="planner_test" pkg="dlux_plugins" type="planner_test" time-limit="1080"/>
 </launch>

dlux_plugins/test/planner_test.launch

@@ -26,6 +26,11 @@
   <test_depend>roslint</test_depend>
   <test_depend>rostest</test_depend>
 
+  <!-- When running the unload test, it loads DWB, so these are needed -->
+  <test_depend>dwb_local_planner</test_depend>
+  <test_depend>dwb_plugins</test_depend>
+  <test_depend>dwb_critics</test_depend>
+
   <export>
     <nav_core plugin="${prefix}/nav_core_plugins.xml"/>
     <nav_core2 plugin="${prefix}/nav_core2_plugins.xml"/>