Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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+### Unit tests
+#
+#   Only configured when CATKIN_ENABLE_TESTING is true.
+
+# these dependencies are only needed for unit testing
+find_package(roslaunch REQUIRED)
+find_package(rostest REQUIRED)
+find_package(tf2_ros REQUIRED)
+
+# C++ gtests
+catkin_add_gtest(test_calibration test_calibration.cpp)
+add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS})
+target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES})
+
+# Download packet capture (PCAP) files containing test data.
+# Store them in devel-space, so rostest can easily find them.
+catkin_download_test_data(
+  ${PROJECT_NAME}_tests_class.pcap
+  http://download.ros.org/data/velodyne/class.pcap
+  DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+  MD5 65808d25772101358a3719b451b3d015)
+catkin_download_test_data(
+  ${PROJECT_NAME}_tests_32e.pcap
+  http://download.ros.org/data/velodyne/32e.pcap
+  DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+  MD5 e41d02aac34f0967c03a5597e1d554a9)
+catkin_download_test_data(
+  ${PROJECT_NAME}_tests_64e_s2.1-300-sztaki.pcap
+  http://download.ros.org/data/velodyne/64e_s2.1-300-sztaki.pcap
+  DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+  MD5 176c900ffb698f9b948a13e281ffc1a2)
+catkin_download_test_data(
+  ${PROJECT_NAME}_tests_vlp16.pcap
+  http://download.ros.org/data/velodyne/vlp16.pcap
+  DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+  MD5 f45c2bb1d7ee358274e423ea3b66fd73)
+
+# run rostests
+add_rostest(cloud_node_hz.test)
+add_rostest(cloud_nodelet_hz.test)
+add_rostest(cloud_node_32e_hz.test)
+add_rostest(cloud_nodelet_32e_hz.test)
+add_rostest(cloud_node_64e_s2.1_hz.test)
+add_rostest(cloud_nodelet_64e_s2.1_hz.test)
+add_rostest(cloud_node_vlp16_hz.test)
+add_rostest(cloud_nodelet_vlp16_hz.test)
+add_rostest(transform_node_hz.test)
+add_rostest(transform_nodelet_hz.test)
+add_rostest(two_nodelet_managers.test)
+
+# parse check all the launch/*.launch files
+roslaunch_add_file_check(../launch)