Fix macOS/windows tests that failed to load library (#60)

* Add workflow for macos-latest
* Set test env to help find plugins

This fixes tests on macOS and windows that were failing to
find and/or load a sensor component library.

In windows CI and the macOS workflow (which runs `make test`
before `make install`) tests were failing with
the message "Unable to find sensor plugin path".
This is fixed by setting the IGN_PLUGIN_PATH in cmake to
the build folder containing the compiled plugins.

In the macOS jenkins build (which runs `make test` after
`make install`) tests were failing with the message
"SDF sensor type does not match template type". It was
difficult to track down, but it appears to be caused by
a failure to properly dlopen all the shared libraries
linked by the component plugins when a test finds an
installed component library, rather than one from the build
folder. It is fixed by setting DYLD_LIBRARY_PATH to include
the location of the installed libraries.

Fixes #4.

* Remove redundant AddPluginPaths calls from tests

They don't work on windows, so just depend on the
environment variables set in cmake instead.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

.github/workflows/macos.yml

@@ -0,0 +1,39 @@
+name: macOS latest
+
+on: [push, pull_request]
+
+jobs:
+ build:
+
+ env:
+ PACKAGE: ignition-sensors4
+ runs-on: macos-latest
+ steps:
+ - uses: actions/checkout@v2
+ - name: Set up Homebrew
+ id: set-up-homebrew
+ uses: Homebrew/actions/setup-homebrew@master
+ - run: brew config
+
+ # Needed for X11Requirement
+ - run: brew cask install xquartz
+ - name: Install base dependencies
+ run: |
+ brew tap osrf/simulation;
+ brew install --only-dependencies ${PACKAGE};
+
+ - run: mkdir build
+ - name: cmake
+ working-directory: build
+ run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+ - run: make
+ working-directory: build
+ - run: make test
+ working-directory: build
+ env:
+ CTEST_OUTPUT_ON_FAILURE: 1
+ - name: make install
+ working-directory: build
+ run: |
+ make install;
+ brew link ${PACKAGE};

src/CMakeLists.txt

@@ -136,3 +136,19 @@ ign_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${rendering_target})
 ign_build_tests(TYPE UNIT SOURCES Lidar_TEST.cc LIB_DEPS ${lidar_target})
 ign_build_tests(TYPE UNIT SOURCES Camera_TEST.cc LIB_DEPS ${camera_target})
 ign_build_tests(TYPE UNIT SOURCES ImuSensor_TEST.cc LIB_DEPS ${imu_target})
+
+set(plugin_test_targets)
+list(APPEND plugin_test_targets "UNIT_Camera_TEST")
+list(APPEND plugin_test_targets "UNIT_Lidar_TEST")
+list(APPEND plugin_test_targets "UNIT_ImuSensor_TEST")
+
+foreach(plugin_test ${plugin_test_targets})
+ if(TARGET ${plugin_test})
+ set(_env_vars)
+ list(APPEND _env_vars "IGN_PLUGIN_PATH=$<TARGET_FILE_DIR:${camera_target}>")
+ list(APPEND _env_vars "DYLD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
+
+ set_tests_properties(${plugin_test} PROPERTIES
+ ENVIRONMENT "${_env_vars}")
+ endif()
+endforeach()

test/integration/CMakeLists.txt

@@ -53,3 +53,15 @@ ign_build_tests(TYPE INTEGRATION
  ${PROJECT_LIBRARY_TARGET_NAME}-imu
 )
 
+foreach(plugin_test ${dri_tests} ${tests})
+ get_filename_component(BINARY_NAME ${plugin_test} NAME_WE)
+ set(BINARY_NAME "${TEST_TYPE}_${BINARY_NAME}")
+ if(TARGET ${BINARY_NAME})
+ set(_env_vars)
+ list(APPEND _env_vars "IGN_PLUGIN_PATH=$<TARGET_FILE_DIR:${PROJECT_LIBRARY_TARGET_NAME}>")
+ list(APPEND _env_vars "DYLD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
+
+ set_tests_properties(${BINARY_NAME} PROPERTIES
+ ENVIRONMENT "${_env_vars}")
+ endif()
+endforeach()

test/integration/air_pressure_plugin.cc

@@ -131,7 +131,6 @@ TEST_F(AirPressureSensorTest, CreateAirPressure)
 
  // create the sensor using sensor factory
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::AirPressureSensor> sensor =
  sf.CreateSensor<ignition::sensors::AirPressureSensor>(airPressureSdf);
  ASSERT_NE(nullptr, sensor);
@@ -173,7 +172,6 @@ TEST_F(AirPressureSensorTest, SensorReadings)
  // create the sensor using sensor factory
  // try creating without specifying the sensor type and then cast it
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::Sensor> s =
  sf.CreateSensor(airPressureSdf);
  std::unique_ptr<ignition::sensors::AirPressureSensor> sensor(
@@ -240,8 +238,6 @@ TEST_F(AirPressureSensorTest, Topic)
 
  // Factory
  ignition::sensors::SensorFactory factory;
- factory.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH,
- "lib"));
 
  // Default topic
  {

test/integration/altimeter_plugin.cc

@@ -138,7 +138,6 @@ TEST_F(AltimeterSensorTest, CreateAltimeter)
 
  // create the sensor using sensor factory
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::AltimeterSensor> sensor =
  sf.CreateSensor<ignition::sensors::AltimeterSensor>(altimeterSdf);
  ASSERT_NE(nullptr, sensor);
@@ -179,7 +178,6 @@ TEST_F(AltimeterSensorTest, SensorReadings)
  // create the sensor using sensor factory
  // try creating without specifying the sensor type and then cast it
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::Sensor> s =
  sf.CreateSensor(altimeterSdf);
  std::unique_ptr<ignition::sensors::AltimeterSensor> sensor(
@@ -268,8 +266,6 @@ TEST_F(AltimeterSensorTest, Topic)
 
  // Factory
  ignition::sensors::SensorFactory factory;
- factory.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH,
- "lib"));
 
  // Default topic
  {

test/integration/camera_plugin.cc

@@ -63,7 +63,6 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
 
  // do the test
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  ignition::sensors::CameraSensor *sensor =
  mgr.CreateSensor<ignition::sensors::CameraSensor>(sensorPtr);

test/integration/depth_camera_plugin.cc

@@ -203,7 +203,6 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
 
  // do the test
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  ignition::sensors::DepthCameraSensor *depthSensor =
  mgr.CreateSensor<ignition::sensors::DepthCameraSensor>(sensorPtr);

test/integration/gpu_lidar_sensor_plugin.cc

@@ -188,7 +188,6 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
 
  // Create a sensor manager
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  // Create an scene with a box in it
  scene->SetAmbientLight(0.3, 0.3, 0.3);
@@ -318,7 +317,6 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
 
  // Create a sensor manager
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  // Create a GpuLidarSensor
  ignition::sensors::GpuLidarSensor *sensor =
@@ -463,7 +461,6 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
 
  // Create a sensor manager
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  // Create a GpuLidarSensors
  ignition::sensors::GpuLidarSensor *sensor1 =
@@ -609,7 +606,6 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
 
  // Create a sensor manager
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  // Create a GpuLidarSensor
  ignition::sensors::GpuLidarSensor *sensor =
@@ -727,7 +723,6 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
 
  // Create a sensor manager
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  // Create a GpuLidarSensors
  ignition::sensors::GpuLidarSensor *sensor1 =
@@ -820,7 +815,6 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
 
  // Create a GpuLidarSensor
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
 
  // Default topic

test/integration/imu_plugin.cc

@@ -85,7 +85,6 @@ TEST_F(ImuSensorTest, CreateImu)
 
  // create the sensor using sensor factory
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::ImuSensor> sensor =
  sf.CreateSensor<ignition::sensors::ImuSensor>(imuSdf);
  ASSERT_NE(nullptr, sensor);
@@ -114,7 +113,6 @@ TEST_F(ImuSensorTest, SensorReadings)
  // create the sensor using sensor factory
  // try creating without specifying the sensor type and then cast it
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::Sensor> s =
  sf.CreateSensor(imuSdf);
  std::unique_ptr<ignition::sensors::ImuSensor> sensor(
@@ -245,8 +243,6 @@ TEST_F(ImuSensorTest, Topic)
 
  // Factory
  ignition::sensors::SensorFactory factory;
- factory.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH,
- "lib"));
 
  // Default topic
  {

test/integration/logical_camera_plugin.cc

@@ -111,7 +111,6 @@ TEST_F(LogicalCameraSensorTest, CreateLogicalCamera)
 
  // create the sensor using sensor factory
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor =
  sf.CreateSensor<ignition::sensors::LogicalCameraSensor>(logicalCameraSdf);
  ASSERT_NE(nullptr, sensor);
@@ -150,7 +149,6 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
  // create the sensor using sensor factory
  // try creating without specifying the sensor type and then cast it
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::Sensor> s =
  sf.CreateSensor(logicalCameraSdf);
  std::unique_ptr<ignition::sensors::LogicalCameraSensor> sensor(
@@ -251,8 +249,6 @@ TEST_F(LogicalCameraSensorTest, Topic)
 
  // Factory
  ignition::sensors::SensorFactory factory;
- factory.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH,
- "lib"));
 
  // Default topic
  {

test/integration/magnetometer_plugin.cc

@@ -144,7 +144,6 @@ TEST_F(MagnetometerSensorTest, CreateMagnetometer)
 
  // create the sensor using sensor factory
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor =
  sf.CreateSensor<ignition::sensors::MagnetometerSensor>(magnetometerSdf);
  ASSERT_NE(nullptr, sensor);
@@ -184,7 +183,6 @@ TEST_F(MagnetometerSensorTest, SensorReadings)
  // create the sensor using sensor factory
  // try creating without specifying the sensor type and then cast it
  ignition::sensors::SensorFactory sf;
- sf.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
  std::unique_ptr<ignition::sensors::Sensor> s =
  sf.CreateSensor(magnetometerSdf);
  std::unique_ptr<ignition::sensors::MagnetometerSensor> sensor(
@@ -304,8 +302,6 @@ TEST_F(MagnetometerSensorTest, Topic)
 
  // Factory
  ignition::sensors::SensorFactory factory;
- factory.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH,
- "lib"));
 
  // Default topic
  {

test/integration/rgbd_camera_plugin.cc

@@ -223,7 +223,6 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
 
  // do the test
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  ignition::sensors::RgbdCameraSensor *rgbdSensor =
  mgr.CreateSensor<ignition::sensors::RgbdCameraSensor>(sensorPtr);

test/integration/thermal_camera_plugin.cc

@@ -136,7 +136,6 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
  root->AddChild(box);
 
  ignition::sensors::Manager mgr;
- mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));
 
  ignition::sensors::ThermalCameraSensor *thermalSensor =
  mgr.CreateSensor<ignition::sensors::ThermalCameraSensor>(sensorPtr);