revert test changes

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
moveit · Nov 5, 2024 · 4eef9ee · 4eef9ee
1 parent 9b47cde
commit 4eef9ee
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Showing 8 changed files with 4 additions and 322 deletions.
diff --git a/moveit_ros/move_group/src/move_group.cpp b/moveit_ros/move_group/src/move_group.cpp
@@ -289,6 +289,7 @@ int main(int argc, char** argv)
   // Initialize MoveItCpp
   const auto moveit_cpp = std::make_shared<moveit_cpp::MoveItCpp>(nh, moveit_cpp_options);
   const auto planning_scene_monitor = moveit_cpp->getPlanningSceneMonitorNonConst();
+
   if (auto ps = planning_scene_monitor->getPlanningScene())
   {
     if (nh->has_parameter("default_planning_scene"))

diff --git a/moveit_ros/tests/CMakeLists.txt b/moveit_ros/tests/CMakeLists.txt
@@ -2,35 +2,18 @@ cmake_minimum_required(VERSION 3.22)
 project(moveit_ros_tests LANGUAGES CXX)
 
 # Common cmake code applied to all moveit packages
-find_package(ament_cmake_python REQUIRED)
 find_package(moveit_common REQUIRED)
 moveit_package()
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(ament_cmake_ros REQUIRED)
-  find_package(moveit_ros_planning REQUIRED)
+  find_package(ament_cmake REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(ros_testing REQUIRED)
 
   include_directories(include)
   ament_add_gtest_executable(move_group_api_test src/move_group_api_test.cpp)
   ament_target_dependencies(move_group_api_test rclcpp)
-  add_ros_test(launch/move_group_api.py TIMEOUT 30 ENV "ROS_DOMAIN_ID=2")
-
-  ament_add_gtest_executable(move_group_default_planning_scene_test
-                             src/move_group_default_planning_scene_test.cpp)
-  ament_target_dependencies(move_group_default_planning_scene_test rclcpp
-                            moveit_ros_planning)
-  # run default_planning_scene test isolated test to avoid interference
-  add_ros_test(launch/move_group_default_planning_scene.py TIMEOUT 30 ENV
-               "ROS_DOMAIN_ID=2")
-
-  # install Python helper script and test
-  ament_python_install_package(moveit_ros_tests)
-  install(DIRECTORY data DESTINATION share/${PROJECT_NAME})
-  install(TARGETS move_group_api_test move_group_default_planning_scene_test
-          RUNTIME DESTINATION lib/${PROJECT_NAME})
+  add_ros_test(launch/move_group_api.test.py TIMEOUT 30 ARGS
+               "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
 endif()
-
-ament_package()
diff --git a/moveit_ros/tests/data/scene.txt b/moveit_ros/tests/data/scene.txt
diff --git a/moveit_ros/tests/launch/move_group_api.py b/moveit_ros/tests/launch/move_group_api.py
diff --git a/moveit_ros/tests/launch/move_group_default_planning_scene.py b/moveit_ros/tests/launch/move_group_default_planning_scene.py
diff --git a/moveit_ros/tests/moveit_ros_tests/__init__.py b/moveit_ros/tests/moveit_ros_tests/__init__.py
diff --git a/moveit_ros/tests/moveit_ros_tests/move_group_test_description.py b/moveit_ros/tests/moveit_ros_tests/move_group_test_description.py
diff --git a/moveit_ros/tests/src/move_group_default_planning_scene_test.cpp b/moveit_ros/tests/src/move_group_default_planning_scene_test.cpp