updated cmakelists flags

Author: Tomas Baca

CMakeLists.txt

@@ -20,16 +20,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
-if(MRS_ENABLE_TESTING)
-  message(WARNING "Setting optimizaton levels for tests")
-  add_definitions("-O1")
-  add_definitions("-g")
-endif()
+if(ENABLE_COVERAGE)
+  message(WARNING "building for coverage, the performance might be limited")
 
-if(COVERAGE)
-  message(WARNING "building with --coverage, the performance might be limited")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage -fprofile-arcs")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage -fprofile-arcs")
+
+  add_definitions("-O1")
+  add_definitions("-g")
 endif()
 
 set(DEPENDENCIES
@@ -131,8 +129,7 @@ pluginlib_export_plugin_description_file(mrs_uav_managers plugins.xml)
 ## |                           testing                          |
 ## --------------------------------------------------------------
 
-# BUILD_TESTING is true by default when building with colcon
-if(BUILD_TESTING)
+if(ENABLE_TESTS)
 
   add_subdirectory(test)