Use Uris in ControlBoard tests

Author: xela-95

tests/controlboard/CMakeLists.txt

@@ -9,7 +9,7 @@ set(TESTS
 set(_env_vars)
 list(APPEND _env_vars "LIBGL_ALWAYS_SOFTWARE=1"
   "GZ_SIM_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:gz-sim-yarp-controlboard-system>"
-  "GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:${CMAKE_CURRENT_SOURCE_DIR}/.."
+  "GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:${CMAKE_CURRENT_SOURCE_DIR}"
 )
 
 foreach(TEST ${TESTS})
@@ -36,5 +36,5 @@ foreach(TEST ${TESTS})
 
   target_compile_definitions(${TEST} PRIVATE CMAKE_CURRENT_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
 
-    
+
 endforeach()

tests/controlboard/coupled_pendulum_two_controlboards.sdf

@@ -161,13 +161,13 @@
 
       <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
         <yarpConfigurationFile>
-          ../../../tests/controlboard/conf/gazebo_controlboard.ini
+          model://conf/gazebo_controlboard.ini
         </yarpConfigurationFile>
         <initialConfiguration>0.0</initialConfiguration>
       </plugin>
       <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
         <yarpConfigurationFile>
-          ../../../tests/controlboard/conf/gazebo_controlboard2.ini
+          model://conf/gazebo_controlboard2.ini
         </yarpConfigurationFile>
         <initialConfiguration>0.0</initialConfiguration>
       </plugin>

tests/controlboard/coupled_pendulum_two_joints_single_controlboard.sdf

@@ -161,7 +161,7 @@
 
       <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
         <yarpConfigurationFile>
-          ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini
+          model://conf/gazebo_controlboard_multiple_joints.ini
         </yarpConfigurationFile>
         <initialConfiguration>0.0</initialConfiguration>
       </plugin>

tests/controlboard/pendulum_joint_relative_to_child_link.sdf

@@ -138,7 +138,7 @@
             </joint>
             <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
                 <yarpConfigurationFile>
-                    ../../../tests/controlboard/conf/gazebo_controlboard.ini
+                    model://conf/gazebo_controlboard.ini
                 </yarpConfigurationFile>
                 <initialConfiguration>0.0</initialConfiguration>
             </plugin>

tests/controlboard/pendulum_joint_relative_to_parent_link.sdf

@@ -134,7 +134,7 @@
             </link>
             <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
                 <yarpConfigurationFile>
-                    ../../../tests/controlboard/conf/gazebo_controlboard.ini
+                    model://conf/gazebo_controlboard.ini
                 </yarpConfigurationFile>
                 <initialConfiguration>0.0</initialConfiguration>
             </plugin>

tests/controlboard/pendulum_multiple_gz_instances.sdf

@@ -135,7 +135,7 @@
 
       <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
         <yarpConfigurationFile>
-          ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini
+          model://conf/gazebo_controlboard_multiple_instances.ini
         </yarpConfigurationFile>
         <initialConfiguration>0.0</initialConfiguration>
       </plugin>

tests/controlboard/pendulum_no_initial_configuration.sdf

@@ -134,7 +134,7 @@
             </link>
             <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
                 <yarpConfigurationFile>
-                    ../../../tests/controlboard/conf/gazebo_controlboard.ini
+                    model://conf/gazebo_controlboard.ini
                 </yarpConfigurationFile>
             </plugin>
         </model>

tests/controlboard/pendulum_with_initial_configuration.sdf

@@ -134,7 +134,7 @@
             </link>
             <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
                 <yarpConfigurationFile>
-                    ../../../tests/controlboard/conf/gazebo_controlboard.ini
+                    model://conf/gazebo_controlboard.ini
                 </yarpConfigurationFile>
                 <initialConfiguration>0.0 90.0</initialConfiguration>
             </plugin>