Merge pull request #4 from ICube-Robotics/add_basic_gtests

* Build test against libs from build dir

* fix libusb-dev setup

* Update README.md

.docker/Dockerfile

@@ -3,6 +3,7 @@ FROM ros:${ROS_DISTRO}
 
 COPY . /ros2_dev/src/fd_sdk_vendor
 RUN apt update && apt upgrade -y
+RUN apt install -y libusb-1.0-0-dev
 RUN apt install -y python3-pip
 RUN apt install -y git tree clang-format-14 cppcheck
 RUN pip install pre-commit

CMakeLists.txt

@@ -23,6 +23,9 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(libusb REQUIRED libusb-1.0)
+
 find_package(ament_cmake REQUIRED)
 include(FetchContent)
 
@@ -59,7 +62,7 @@ target_link_libraries(
   ${PROJECT_NAME} INTERFACE
   ${CMAKE_INSTALL_PREFIX}/lib/libdhd.so.${VERSION_SDK_MAJOR}
   ${CMAKE_INSTALL_PREFIX}/lib/libdrd.so.${VERSION_SDK_MAJOR}
-  usb-1.0
+  ${libusb-1.0_LIBRARIES}
 )
 
 # Testing
@@ -71,6 +74,25 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE)
 
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(
+    test_dhd
+    test/test_dhd.cpp
+    test/test_drd.cpp
+  )
+  target_include_directories(
+    test_dhd
+    PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<BUILD_INTERFACE:${fd_sdk_binaries_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+  target_link_libraries(test_dhd
+    ${dhd_LIBS}
+    ${drd_LIBS}
+    ${libusb-1.0_LIBRARIES}
+  )
 endif()
 
 # Install

README.md

@@ -1,7 +1,7 @@
 # fd_sdk_vendor
 ROS 2 vendor package for Force Dimension SDK (version 3.16.0).
 
-Author: Thibault Poignonec ([email protected])
+***Tested with a Humble ROS distribution only (Ubuntu 22.04 LTS)***
 
 [![CI](https://github.com/ICube-Robotics/fd_sdk_vendor/actions/workflows/ci.yml/badge.svg)](https://github.com/ICube-Robotics/fd_sdk_vendor/actions/workflows/ci.yml)
 

package.xml

@@ -12,6 +12,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_test</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
 
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>