Included clock system test in CMake (#324)

* Included clock system test in CMake Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> --------- Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
RobotLocomotion · Dec 28, 2023 · 5661886 · 5661886
1 parent b7193ad
commit 5661886
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Showing 2 changed files with 12 additions and 4 deletions.
diff --git a/drake_ros/core/CMakeLists.txt b/drake_ros/core/CMakeLists.txt
@@ -87,4 +87,14 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_geometry_conversions test/test_geometry_conversions.cc)
   target_link_libraries(test_geometry_conversions drake_ros_core)
+
+  ament_add_gtest(test_clock_system test/test_clock_system.cc)
+  target_compile_definitions(test_clock_system
+    PRIVATE
+    # We do not expose `rmw_isoliation` via CMake.
+    _TEST_DISABLE_RMW_ISOLATION
+  )
+  target_link_libraries(test_clock_system
+    drake_ros_core
+  )
 endif()
diff --git a/drake_ros/core/test/test_clock_system.cc b/drake_ros/core/test/test_clock_system.cc
@@ -39,13 +39,11 @@ TEST(Integration, clock_system) {
   auto subscription =
       direct_ros_node->create_subscription<rosgraph_msgs::msg::Clock>(
           "/clock", rclcpp::ClockQoS(),
-          [&](const rosgraph_msgs::msg::Clock::SharedPtr msg) {
-            msg_counter++;
-          });
+          [&](const rosgraph_msgs::msg::Clock::SharedPtr) { msg_counter++; });
 
   simulator->AdvanceTo(simulator_context.get_time() + 1.0);
   rclcpp::spin_some(direct_ros_node);
-  EXPECT_GE(msg_counter, 1);
+  EXPECT_GE(msg_counter, 1u);
 
   drake_ros::core::shutdown();
 }