Adding addition BUILD_TESTING requirement (#660)

Signed-off-by: CursedRock17 <[email protected]>

Author: CursedRock17

test_tf2/CMakeLists.txt

@@ -19,124 +19,127 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
-find_package(ament_cmake_gtest REQUIRED)
-find_package(builtin_interfaces REQUIRED)
+if (BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(builtin_interfaces REQUIRED)
 # Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
-find_package(Eigen3 QUIET NO_MODULE)
-if(NOT Eigen3_FOUND)
-  find_package(Eigen3 REQUIRED)
-endif()
-find_package(geometry_msgs REQUIRED)
-find_package(launch_testing_ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_bullet REQUIRED)
-find_package(tf2_eigen REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(tf2_kdl REQUIRED)
-find_package(tf2_ros REQUIRED)
-
-ament_find_gtest()
-
-ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
-if(TARGET buffer_core_test)
-  target_link_libraries(buffer_core_test
-    ${builtin_interfaces_TARGETS}
-    ${geometry_msgs_TARGETS}
-    rclcpp::rclcpp
-    tf2::tf2
-    ${tf2_geometry_msgs_TARGETS}
-    tf2_ros::tf2_ros)
-endif()
+  find_package(Eigen3 QUIET NO_MODULE)
+  if(NOT Eigen3_FOUND)
+    find_package(Eigen3 REQUIRED)
+  endif()
+  find_package(geometry_msgs REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(tf2 REQUIRED)
+  find_package(tf2_bullet REQUIRED)
+  find_package(tf2_eigen REQUIRED)
+  find_package(tf2_geometry_msgs REQUIRED)
+  find_package(tf2_kdl REQUIRED)
+  find_package(tf2_ros REQUIRED)
+
+  ament_find_gtest()
+
+  ament_add_gtest(buffer_core_test test/buffer_core_test.cpp)
+  if(TARGET buffer_core_test)
+    target_link_libraries(buffer_core_test
+      ${builtin_interfaces_TARGETS}
+      ${geometry_msgs_TARGETS}
+      rclcpp::rclcpp
+      tf2::tf2
+      ${tf2_geometry_msgs_TARGETS}
+      tf2_ros::tf2_ros)
+  endif()
 
-ament_add_gtest(test_message_filter test/test_message_filter.cpp)
-if(TARGET test_message_filter)
-  target_link_libraries(test_message_filter
-    ${builtin_interfaces_TARGETS}
-    ${geometry_msgs_TARGETS}
-    rclcpp::rclcpp
-    tf2::tf2
-    tf2_ros::tf2_ros)
-endif()
+  ament_add_gtest(test_message_filter test/test_message_filter.cpp)
+  if(TARGET test_message_filter)
+    target_link_libraries(test_message_filter
+      ${builtin_interfaces_TARGETS}
+      ${geometry_msgs_TARGETS}
+      rclcpp::rclcpp
+      tf2::tf2
+      tf2_ros::tf2_ros)
+  endif()
 
-ament_add_gtest(test_convert test/test_convert.cpp)
-if(TARGET test_convert)
-  target_link_libraries(test_convert
-    ${geometry_msgs_TARGETS}
-    tf2::tf2
-    tf2_bullet::tf2_bullet
-    tf2_eigen::tf2_eigen
-    ${tf2_geometry_msgs_TARGETS}
-    tf2_kdl::tf2_kdl)
-  if(TARGET Eigen3::Eigen)
-    # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
-    target_link_libraries(test_convert Eigen3::Eigen)
-  else()
-    target_include_directories(test_convert PRIVATE ${Eigen3_INCLUDE_DIRS})
+  ament_add_gtest(test_convert test/test_convert.cpp)
+  if(TARGET test_convert)
+    target_link_libraries(test_convert
+      ${geometry_msgs_TARGETS}
+      tf2::tf2
+      tf2_bullet::tf2_bullet
+      tf2_eigen::tf2_eigen
+      ${tf2_geometry_msgs_TARGETS}
+      tf2_kdl::tf2_kdl)
+    if(TARGET Eigen3::Eigen)
+      # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
+      target_link_libraries(test_convert Eigen3::Eigen)
+    else()
+      target_include_directories(test_convert PRIVATE ${Eigen3_INCLUDE_DIRS})
+    endif()
   endif()
-endif()
 
-ament_add_gtest(test_utils test/test_utils.cpp)
-if(TARGET test_utils)
-  target_link_libraries(test_utils
-    ${geometry_msgs_TARGETS}
-    tf2::tf2
-    ${tf2_geometry_msgs_TARGETS}
-    tf2_kdl::tf2_kdl)
-endif()
+  ament_add_gtest(test_utils test/test_utils.cpp)
+  if(TARGET test_utils)
+    target_link_libraries(test_utils
+      ${geometry_msgs_TARGETS}
+      tf2::tf2
+      ${tf2_geometry_msgs_TARGETS}
+      tf2_kdl::tf2_kdl)
+  endif()
 
-add_executable(test_buffer_server test/test_buffer_server.cpp)
-if(TARGET test_buffer_server)
-  target_link_libraries(test_buffer_server
-    rclcpp::rclcpp
-    tf2_ros::tf2_ros)
-endif()
+  add_executable(test_buffer_server test/test_buffer_server.cpp)
+  if(TARGET test_buffer_server)
+    target_link_libraries(test_buffer_server
+      rclcpp::rclcpp
+      tf2_ros::tf2_ros)
+  endif()
 
-add_executable(test_buffer_client test/test_buffer_client.cpp)
-if(TARGET test_buffer_client)
-  target_link_libraries(test_buffer_client
-    ${GTEST_LIBRARIES}
-    rclcpp::rclcpp
-    tf2_bullet::tf2_bullet
-    ${tf2_geometry_msgs_TARGETS}
-    tf2_kdl::tf2_kdl
-    tf2_ros::tf2_ros)
-  add_launch_test(test/buffer_client_tester.launch.py)
-endif()
+  add_executable(test_buffer_client test/test_buffer_client.cpp)
+  if(TARGET test_buffer_client)
+    target_link_libraries(test_buffer_client
+      ${GTEST_LIBRARIES}
+      rclcpp::rclcpp
+      tf2_bullet::tf2_bullet
+      ${tf2_geometry_msgs_TARGETS}
+      tf2_kdl::tf2_kdl
+      tf2_ros::tf2_ros)
+    add_launch_test(test/buffer_client_tester.launch.py)
+  endif()
 
-add_executable(test_static_publisher test/test_static_publisher.cpp)
-if(TARGET test_static_publisher)
-  target_link_libraries(test_static_publisher
-    ${GTEST_LIBRARIES}
-    ${geometry_msgs_TARGETS}
-    rclcpp::rclcpp
-    tf2::tf2
-    tf2_ros::tf2_ros)
-  add_launch_test(test/static_publisher.launch.py)
-endif()
+  add_executable(test_static_publisher test/test_static_publisher.cpp)
+  if(TARGET test_static_publisher)
+    target_link_libraries(test_static_publisher
+      ${GTEST_LIBRARIES}
+      ${geometry_msgs_TARGETS}
+      rclcpp::rclcpp
+      tf2::tf2
+      tf2_ros::tf2_ros)
+    add_launch_test(test/static_publisher.launch.py)
+  endif()
 
-ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
-if(TARGET test_tf2_bullet)
-  target_link_libraries(test_tf2_bullet
-    rclcpp::rclcpp
-    tf2_bullet::tf2_bullet
-    tf2_ros::tf2_ros
-    tf2::tf2)
-endif()
+  ament_add_gtest(test_tf2_bullet test/test_tf2_bullet.cpp)
+  if(TARGET test_tf2_bullet)
+    target_link_libraries(test_tf2_bullet
+      rclcpp::rclcpp
+      tf2_bullet::tf2_bullet
+      tf2_ros::tf2_ros
+      tf2::tf2)
+  endif()
 
 # TODO(ahcorde): enable once python part of tf2_geometry_msgs is working
 # add_launch_test(test/test_buffer_client.launch.py)
 
 # install executables
-install(TARGETS
-  test_buffer_client
-  test_buffer_server
-  test_static_publisher
-  DESTINATION lib/${PROJECT_NAME}
-)
-install(PROGRAMS
-  test/test_buffer_client.py
-  DESTINATION lib/${PROJECT_NAME}
-)
+  install(TARGETS
+    test_buffer_client
+    test_buffer_server
+    test_static_publisher
+    DESTINATION lib/${PROJECT_NAME}
+  )
+  install(PROGRAMS
+    test/test_buffer_client.py
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
+endif()
 
 ament_package()