fixed include statements and removed non-existent tests from cmake

vortexntnu · Nov 7, 2023 · aedf67d · aedf67d
1 parent 70f7ee8
commit aedf67d
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Showing 6 changed files with 8 additions and 27 deletions.
diff --git a/motion/thruster_allocator/CMakeLists.txt b/motion/thruster_allocator/CMakeLists.txt
@@ -41,25 +41,6 @@ install(TARGETS
   ${PROJECT_NAME}_node
   DESTINATION lib/${PROJECT_NAME})
 
-if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(${PROJECT_NAME}_test 
-    test/main.cpp
-    test/allocator_test.cpp
-  )
-
-
-  target_include_directories(${PROJECT_NAME}_test PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-  )
-  ament_target_dependencies(${PROJECT_NAME}_test
-    rclcpp 
-    geometry_msgs 
-    vortex_msgs
-  )
-endif()
-
 # Install launch files.
 install(DIRECTORY
   launch

diff --git a/motion/thruster_allocator/include/thruster_allocator/allocator_ros.hpp b/motion/thruster_allocator/include/thruster_allocator/allocator_ros.hpp
@@ -10,8 +10,8 @@
 
 #include <eigen3/Eigen/Eigen>
 #include <rclcpp/rclcpp.hpp>
-#include <thruster_allocator/allocator_utils.hpp>
-#include <thruster_allocator/pseudoinverse_allocator.hpp>
+#include "thruster_allocator/allocator_utils.hpp"
+#include "thruster_allocator/pseudoinverse_allocator.hpp"
 
 #include <geometry_msgs/msg/wrench.hpp>
 #include <vortex_msgs/msg/thruster_forces.hpp>

diff --git a/...cator/launch/thruster_allocator_launch.py → ...cator/launch/thruster_allocator.launch.py b/...cator/launch/thruster_allocator_launch.py → ...cator/launch/thruster_allocator.launch.py
diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -1,6 +1,6 @@
-#include <thruster_allocator/allocator_ros.hpp>
-#include <thruster_allocator/allocator_utils.hpp>
-#include <thruster_allocator/pseudoinverse_allocator.hpp>
+#include "thruster_allocator/allocator_ros.hpp"
+#include "thruster_allocator/allocator_utils.hpp"
+#include "thruster_allocator/pseudoinverse_allocator.hpp"
 #include <vortex_msgs/msg/thruster_forces.hpp>
 
 #include <chrono>

diff --git a/motion/thruster_allocator/src/pseudoinverse_allocator.cpp b/motion/thruster_allocator/src/pseudoinverse_allocator.cpp
@@ -1,4 +1,4 @@
-#include <thruster_allocator/pseudoinverse_allocator.hpp>
+#include "thruster_allocator/pseudoinverse_allocator.hpp"
 
 PseudoinverseAllocator::PseudoinverseAllocator(const Eigen::MatrixXd &T_pinv)
     : T_pinv(T_pinv) {}

diff --git a/motion/thruster_allocator/src/thruster_allocator_node.cpp b/motion/thruster_allocator/src/thruster_allocator_node.cpp
@@ -1,5 +1,5 @@
-#include <thruster_allocator/allocator_ros.hpp>
-#include <thruster_allocator/allocator_utils.hpp>
+#include "thruster_allocator/allocator_ros.hpp"
+#include "thruster_allocator/allocator_utils.hpp"
 
 int main(int argc, char **argv) {
   rclcpp::init(argc, argv);