[tests] Fix the way the test library is build and the Path in launch files.

Author: olivier-stasse

tests/CMakeLists.txt

@@ -14,7 +14,6 @@ if(BUILD_TESTING)
   add_library(impl_test_sot_mock_device SHARED impl_test_sot_mock_device.cpp)
   set_target_properties(impl_test_sot_mock_device PROPERTIES INSTALL_RPATH
                                                              $ORIGIN)
-  # target_include_directories(impl_test_sot_mock_device PUBLIC include)
   target_link_libraries(
     impl_test_sot_mock_device PUBLIC sot-core::sot-core
                                      dynamic-graph-python::dynamic-graph-python)
@@ -32,15 +31,12 @@ if(BUILD_TESTING)
     dynamic_graph_bridge-impl_test_sot_mock_device-wrap SOURCE_PYTHON_MODULE
     "${CMAKE_CURRENT_SOURCE_DIR}/impl_test_sot_mock_device-python-module-py.cc")
 
-  install(
-    TARGETS ${plugin_library_name}
-    EXPORT ${TARGETS_EXPORT_NAME}
-    DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
   # Library for sot_external_interface
   add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp)
 
   target_include_directories(impl_test_library PUBLIC include)
-  target_link_libraries(impl_test_library PUBLIC sot-core::sot-core)
+  target_link_libraries(impl_test_library PUBLIC impl_test_sot_mock_device
+                                                 sot-core::sot-core)
   ament_target_dependencies(impl_test_library PUBLIC dynamic_graph_bridge_msgs
                             rclcpp rcl_interfaces std_srvs)
   # Executable for SotLoaderBasic test

tests/launch/launching_test_sot_loader.py

@@ -31,19 +31,18 @@
 def generate_test_description():
     """Load a simple urdf, parameters and the library."""
     ld = LaunchDescription()
-
+    print("After launch description")
     robot_description_content_path = PathJoinSubstitution(
         [
             get_package_share_directory("dynamic_graph_bridge"),
             "urdf",
             "dgb_minimal_robot.urdf",
         ],
     )
-
-    robot_description_content = Path.open(
-        robot_description_content_path.perform(None),
-    ).read()
-
+    print("Before robot_description_content")
+    robot_description_content_path = Path(robot_description_content_path.perform(None))
+    robot_description_content = robot_description_content_path.open().read()
+    print("Before params")
     params = {
         "state_vector_map": ["joint1", "joint2"],
         "robot_description": robot_description_content,

tests/launch/launching_test_sot_loader_basic.py

@@ -33,17 +33,19 @@ def generate_test_description():
 
     It also set parameters state_vector_map and robot_description
     """
+    print("start generate_test_description")
     ld = LaunchDescription()
 
-    robot_description_content_path = (
-        Path(get_package_share_directory("dynamic_graph_bridge"))
-        / "urdf"
-        / "dgb_minimal_robot.urdf"
+    robot_description_pathjs_str = PathJoinSubstitution(
+        [
+            get_package_share_directory("dynamic_graph_bridge"),
+            "urdf",
+            "dgb_minimal_robot.urdf",
+        ],
     )
-    assert robot_description_content_path.exists()
-    robot_description_content = Path.open(
-        PathJoinSubstitution(str(robot_description_content_path)).perform(None),
-    ).read()
+    robot_description_path = Path(robot_description_pathjs_str.perform(None))
+    robot_description_content = robot_description_path.open().read()
+    print("After building robot_description_content")
     terminating_process = Node(
         package="dynamic_graph_bridge",
         executable="test_sot_loader_basic",