Only install it in case of BUILD_TESTING

Author: christophfroehlich

kinematics_interface/CMakeLists.txt

@@ -41,6 +41,17 @@ install(
   RUNTIME DESTINATION bin
 )
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  install(
+    DIRECTORY test/
+    DESTINATION include/kinematics_interface/kinematics_interface
+  )
+  ament_export_dependencies(ament_cmake_gmock ros2_control_test_assets)
+endif()
+
 ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Eigen3)
 ament_package()

kinematics_interface/package.xml

@@ -26,6 +26,9 @@
   <depend>eigen</depend>
   <depend>rclcpp_lifecycle</depend>
 
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

kinematics_interface/include/kinematics_interface/kinematics_interface_common_tests.hpp renamed to kinematics_interface/test/kinematics_interface_common_tests.hpp

@@ -14,8 +14,8 @@
 //
 /// \author: Paul Gesel, Christoph Froehlich
 
-#ifndef KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_COMMON_TESTS_HPP_
-#define KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_COMMON_TESTS_HPP_
+#ifndef KINEMATICS_INTERFACE_COMMON_TESTS_HPP_
+#define KINEMATICS_INTERFACE_COMMON_TESTS_HPP_
 
 #include <gmock/gmock.h>
 #include <memory>
@@ -393,4 +393,4 @@ REGISTER_TYPED_TEST_SUITE_P(
   plugin_calculate_frame_difference_std_vector, incorrect_input_sizes, plugin_no_robot_description,
   plugin_no_parameter_tip);
 
-#endif  // KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_COMMON_TESTS_HPP_
+#endif  // KINEMATICS_INTERFACE_COMMON_TESTS_HPP_

kinematics_interface_kdl/CMakeLists.txt

@@ -38,12 +38,12 @@ pluginlib_export_plugin_description_file(kinematics_interface kinematics_interfa
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
-  find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(
     test_kinematics_interface_kdl
     test/test_kinematics_interface_kdl.cpp
   )
+  # TODO(christophfroehlich): Remove dependency on ros2_control_test_assets
   target_link_libraries(test_kinematics_interface_kdl kinematics_interface_kdl ros2_control_test_assets::ros2_control_test_assets)
 endif()
 

kinematics_interface_kdl/package.xml

@@ -31,8 +31,6 @@
   <depend>tf2_eigen_kdl</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>ros2_control_test_assets</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>