refactor(pose_instability_detector, ar_tag_based_localizer): specify …

…file path using get_package_share_directory (#5588) * use get_package_share_directory Signed-off-by: Kento Yabuuchi <[email protected]> * use get_package_share_directory in pose_instability_detector Signed-off-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: Kento Yabuuchi <[email protected]>
autowarefoundation · Nov 15, 2023 · b5d6c51 · b5d6c51
1 parent 017aed4
commit b5d6c51
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Showing 4 changed files with 8 additions and 4 deletions.
diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>aruco</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_msgs</depend>

diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp
@@ -14,6 +14,7 @@
 
 #include "../src/ar_tag_based_localizer.hpp"
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <gtest/gtest.h>
@@ -29,8 +30,8 @@ class TestArTagBasedLocalizer : public ::testing::Test
   void SetUp() override
   {
     const std::string yaml_path =
-      "../../install/ar_tag_based_localizer/share/ar_tag_based_localizer/config/"
-      "ar_tag_based_localizer.param.yaml";
+      ament_index_cpp::get_package_share_directory("ar_tag_based_localizer") +
+      "/config/ar_tag_based_localizer.param.yaml";
 
     rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator());
     if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) {

diff --git a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp
@@ -15,6 +15,7 @@
 #include "../src/pose_instability_detector.hpp"
 #include "test_message_helper_node.hpp"
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <gtest/gtest.h>
@@ -35,8 +36,8 @@ class TestPoseInstabilityDetector : public ::testing::Test
   void SetUp() override
   {
     const std::string yaml_path =
-      "../../install/pose_instability_detector/share/pose_instability_detector/config/"
-      "pose_instability_detector.param.yaml";
+      ament_index_cpp::get_package_share_directory("pose_instability_detector") +
+      "/config/pose_instability_detector.param.yaml";
 
     rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator());
     if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) {