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refactor(pose_instability_detector, ar_tag_based_localizer): specify file path using get_package_share_directory #5588

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merged 2 commits into from
Nov 15, 2023
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refactor(pose_instability_detector, ar_tag_based_localizer): specify file path using get_package_share_directory #5588

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1bbda9c
use get_package_share_directory
KYabuuchi Nov 15, 2023
6e178b2
use get_package_share_directory in pose_instability_detector
KYabuuchi Nov 15, 2023
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1 change: 1 addition & 0 deletions localization/landmark_based_localizer/ar_tag_based_localizer/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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5 changes: 3 additions & 2 deletions localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp
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Expand Up @@ -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>
Expand All @@ -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)) {
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1 change: 1 addition & 0 deletions localization/pose_instability_detector/package.xml
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Expand Up @@ -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>
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5 changes: 3 additions & 2 deletions localization/pose_instability_detector/test/test.cpp
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Expand Up @@ -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>
Expand All @@ -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)) {
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