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Merged
merged 1 commit into from
Jun 26, 2025
Merged

remove gmock #12

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2 changes: 1 addition & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
<depend>libsqlite3-dev</depend>
<depend>libzmq3-dev</depend>

<test_depend condition="$ROS_VERSION == 2">ament_cmake_gmock</test_depend>
<test_depend condition="$ROS_VERSION == 2">ament_cmake_gtest</test_depend>

<export>
<build_type condition="$ROS_VERSION == 1">catkin</build_type>
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20 changes: 14 additions & 6 deletions tests/gtest_subtree.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
#include <gtest/gtest.h>
#include <gmock/gmock-matchers.h>
#include "behaviortree_cpp/bt_factory.h"
#include "../sample_nodes/dummy_nodes.h"
#include "../sample_nodes/movebase_node.h"
Expand All @@ -8,8 +7,6 @@
#include "test_helper.hpp"

using namespace BT;
using ::testing::Contains;
using ::testing::Pair;

TEST(SubTree, SiblingPorts_Issue_72)
{
Expand Down Expand Up @@ -605,10 +602,21 @@ TEST(SubTree, SubtreeModels)
}
});

// Make sure ports are correct in the node config
ASSERT_NE(subtreeNode, nullptr);
EXPECT_THAT(subtreeNode->config().input_ports, Contains(Pair("in_name", "{my_name}")));
EXPECT_THAT(subtreeNode->config().output_ports, Contains(Pair("out_state", "{my_"
"state}")));
const PortsRemapping& input_ports = subtreeNode->config().input_ports;
EXPECT_EQ(input_ports.size(), 2);
ASSERT_TRUE(input_ports.contains("in_name"));
EXPECT_EQ(input_ports.at("in_name"), "{my_name}");
ASSERT_TRUE(input_ports.contains("in_value"));
EXPECT_EQ(input_ports.at("in_value"), "42");
const PortsRemapping& output_ports = subtreeNode->config().output_ports;
EXPECT_EQ(output_ports.size(), 2);
ASSERT_TRUE(output_ports.contains("out_result"));
EXPECT_EQ(output_ports.at("out_result"), "{output}");
ASSERT_TRUE(output_ports.contains("out_state"));
EXPECT_EQ(output_ports.at("out_state"), "{my_state}");

tree.tickWhileRunning();
}

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