Hello,

I've been trying to use the Gazebo ServerFixture to set up very basic unit tests for a ROS enabled Gazebo plugin. I'm using the velodyne lidar tutorial as a simple example that I know will compile and work as expected to help me understand the process of setting up the testing environment. I'm using ROS Kinetic on Ubuntu 16.04 with gazebo 7.14.0. I also have Gtest 1.7.0 installed from the Debian package.

I'd like to be able to use the catkinaddgtest macro in my CMakeList to add tests and then be able to build and run them with catkin runtests, but I don't know if this is possible. I have the plugin set up in a catkin package and it properly build and run. But when I run catkin runtests, there seems to be an issue linking with Gazebo. The output from the terminal is below:

[100%] Linking CXX executable /home/robert/gazebo_sandbox_ws/devel/.private/velodyne_hld32_plugin/lib/velodyne_hld32_plugin/velodyne_hld32_plugin-test /usr/bin/cmake -E cmake_link_script CMakeFiles/velodyne_hld32_plugin-test.dir/link.txt --verbose=1 /usr/bin/c++ -std=c++11 CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o -o /home/robert/gazebo_sandbox_ws/devel/.private/velodyne_hld32_plugin/lib/velodyne_hld32_plugin/velodyne_hld32_plugin-test -L/usr/lib/x86_64-linux-gnu/gazebo-7/plugins -L/home/robert/gazebo_sandbox_ws/build/velodyne_hld32_plugin/gtest -rdynamic gtest/gtest/libgtest.so /home/robert/gazebo_sandbox_ws/devel/.private/velodyne_hld32_plugin/lib/libvelodyne_hld32_plugin.so -lpthread /opt/ros/kinetic/lib/libgazebo_ros_api_plugin.so /opt/ros/kinetic/lib/libgazebo_ros_paths_plugin.so /opt/ros/kinetic/lib/libroslib.so /opt/ros/kinetic/lib/librospack.so -lpython2.7 -lboost_program_options -ltinyxml /opt/ros/kinetic/lib/libtf.so /opt/ros/kinetic/lib/libtf2_ros.so /opt/ros/kinetic/lib/libactionlib.so /opt/ros/kinetic/lib/libmessage_filters.so /opt/ros/kinetic/lib/libtf2.so /opt/ros/kinetic/lib/libdynamic_reconfigure_config_init_mutex.so /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread -lconsole_bridge -Wl,-rpath,/usr/lib/x86_64-linux-gnu/gazebo-7/plugins:/home/robert/gazebo_sandbox_ws/build/velodyne_hld32_plugin/gtest:/home/robert/gazebo_sandbox_ws/build/velodyne_hld32_plugin/gtest/gtest:/home/robert/gazebo_sandbox_ws/devel/.private/velodyne_hld32_plugin/lib:/opt/ros/kinetic/lib CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o: In function `VelodyneHLD32PluginTest_TestLoadingWorld_Test::TestBody()': test_velodyne_hld32_plugin.cpp:(.text+0xaf): undefined reference to `gazebo::physics::get_world(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o: In function `VelodyneHLD32PluginTest::VelodyneHLD32PluginTest()': test_velodyne_hld32_plugin.cpp:(.text._ZN23VelodyneHLD32PluginTestC2Ev[_ZN23VelodyneHLD32PluginTestC5Ev]+0x14): undefined reference to `gazebo::ServerFixture::ServerFixture()' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o: In function `VelodyneHLD32PluginTest::~VelodyneHLD32PluginTest()': test_velodyne_hld32_plugin.cpp:(.text._ZN23VelodyneHLD32PluginTestD2Ev[_ZN23VelodyneHLD32PluginTestD5Ev]+0x20): undefined reference to `gazebo::ServerFixture::~ServerFixture()' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test[_ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test]+0x28): undefined reference to `gazebo::ServerFixture::TearDown()' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test[_ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test]+0x40): undefined reference to `gazebo::ServerFixture::Unload()' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test[_ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test]+0x48): undefined reference to `gazebo::ServerFixture::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test[_ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test]+0x50): undefined reference to `gazebo::ServerFixture::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test[_ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test]+0x58): undefined reference to `gazebo::ServerFixture::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test[_ZTV45VelodyneHLD32PluginTest_TestLoadingWorld_Test]+0x60): undefined reference to `gazebo::ServerFixture::LoadArgs(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV23VelodyneHLD32PluginTest[_ZTV23VelodyneHLD32PluginTest]+0x28): undefined reference to `gazebo::ServerFixture::TearDown()' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV23VelodyneHLD32PluginTest[_ZTV23VelodyneHLD32PluginTest]+0x40): undefined reference to `gazebo::ServerFixture::Unload()' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV23VelodyneHLD32PluginTest[_ZTV23VelodyneHLD32PluginTest]+0x48): undefined reference to `gazebo::ServerFixture::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV23VelodyneHLD32PluginTest[_ZTV23VelodyneHLD32PluginTest]+0x50): undefined reference to `gazebo::ServerFixture::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV23VelodyneHLD32PluginTest[_ZTV23VelodyneHLD32PluginTest]+0x58): undefined reference to `gazebo::ServerFixture::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTV23VelodyneHLD32PluginTest[_ZTV23VelodyneHLD32PluginTest]+0x60): undefined reference to `gazebo::ServerFixture::LoadArgs(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/velodyne_hld32_plugin-test.dir/test/test_velodyne_hld32_plugin.cpp.o:(.rodata._ZTI23VelodyneHLD32PluginTest[_ZTI23VelodyneHLD32PluginTest]+0x10): undefined reference to `typeinfo for gazebo::ServerFixture' collect2: error: ld returned 1 exit status CMakeFiles/velodyne_hld32_plugin-test.dir/build.make:128: recipe for target '/home/robert/gazebo_sandbox_ws/devel/.private/velodyne_hld32_plugin/lib/velodyne_hld32_plugin/velodyne_hld32_plugin-test' failed make[3]: Leaving directory '/home/robert/gazebo_sandbox_ws/build/velodyne_hld32_plugin' make[3]: *** [/home/robert/gazebo_sandbox_ws/devel/.private/velodyne_hld32_plugin/lib/velodyne_hld32_plugin/velodyne_hld32_plugin-test] Error 1 CMakeFiles/Makefile2:134: recipe for target 'CMakeFiles/velodyne_hld32_plugin-test.dir/all' failed make[2]: Leaving directory '/home/robert/gazebo_sandbox_ws/build/velodyne_hld32_plugin' make[2]: *** [CMakeFiles/velodyne_hld32_plugin-test.dir/all] Error 2 CMakeFiles/Makefile2:1298: recipe for target 'CMakeFiles/run_tests.dir/rule' failed make[1]: Leaving directory '/home/robert/gazebo_sandbox_ws/build/velodyne_hld32_plugin' make[1]: *** [CMakeFiles/run_tests.dir/rule] Error 2 Makefile:667: recipe for target 'run_tests' failed make: *** [run_tests] Error 2

My CMakeList.txt:

``` cmakeminimumrequired(VERSION 2.8.3) project(velodynehld32plugin)

findpackage(catkin REQUIRED COMPONENTS gazeboros roscpp std_msgs )

findpackage(gazebo REQUIRED) includedirectories(${GAZEBOINCLUDEDIRS}

linkdirectories(${GAZEBOLIBRARYDIRS}) set(CMAKECXXFLAGS "${CMAKECXXFLAGS} ${GAZEBOCXX_FLAGS}")

catkinpackage( LIBRARIES velodynehld32plugin CATKINDEPENDS roscpp DEPENDS systemlib gazebo gazeboros )

includedirectories( ${catkinINCLUDE_DIRS})

addlibrary(${PROJECTNAME} src/velodynehld32plugin.cpp) targetlinklibraries(${PROJECTNAME} ${GAZEBOlibraries} ${catkin_LIBRARIES})

catkinaddgtest(${PROJECTNAME}-test test/testvelodynehld32plugin.cpp) if(TARGET ${PROJECTNAME}-test) targetlinklibraries(${PROJECTNAME}-test ${PROJECTNAME} ${GAZEBOlibraries}) endif() ```

I could be making some really dumb mistake, but I feel like I'm just trying random things and I'm spinning my wheels. If anyone has any corrections/suggestions they would be greatly appreciated.

Thanks,

Robert