From aefdc7bb9a93943033eb1d35b300b7791655c252 Mon Sep 17 00:00:00 2001
From: Bjar Ne <gleichdick@users.noreply.github.com>
Date: Mon, 8 Feb 2021 17:55:41 +0000
Subject: [PATCH] make tf2_eigen_test a ROS node

---
 tf2_eigen/CMakeLists.txt          | 7 +++++--
 tf2_eigen/package.xml             | 3 ++-
 tf2_eigen/test/test.launch        | 3 +++
 tf2_eigen/test/tf2_eigen-test.cpp | 4 +++-
 4 files changed, 13 insertions(+), 4 deletions(-)
 create mode 100644 tf2_eigen/test/test.launch

diff --git a/tf2_eigen/CMakeLists.txt b/tf2_eigen/CMakeLists.txt
index 8fcc34718..371f48a3d 100644
--- a/tf2_eigen/CMakeLists.txt
+++ b/tf2_eigen/CMakeLists.txt
@@ -40,7 +40,10 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 if(CATKIN_ENABLE_TESTING)
 
-  catkin_add_gtest(tf2_eigen-test test/tf2_eigen-test.cpp)
-  target_link_libraries(tf2_eigen-test ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+  find_package(rostest REQUIRED)
+
+  add_executable(tf2_eigen_test test/tf2_eigen-test.cpp)
+  target_link_libraries(tf2_eigen_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
+  add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch)
 
 endif()
diff --git a/tf2_eigen/package.xml b/tf2_eigen/package.xml
index 4b804ffb8..ee77542d6 100644
--- a/tf2_eigen/package.xml
+++ b/tf2_eigen/package.xml
@@ -11,11 +11,12 @@
 
   <depend>geometry_msgs</depend>
   <depend>tf2</depend>
-  <depend>tf2_ros</depend>
 
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
+  <build_depend>tf2_ros</build_depend>
 
   <build_export_depend>eigen</build_export_depend>
 
+  <test_depend>rostest</test_depend>
 </package>
diff --git a/tf2_eigen/test/test.launch b/tf2_eigen/test/test.launch
new file mode 100644
index 000000000..1ccc919bb
--- /dev/null
+++ b/tf2_eigen/test/test.launch
@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="tf2_eigen_test" pkg="tf2_eigen" type="tf2_eigen_test" time-limit="120" />
+</launch>
diff --git a/tf2_eigen/test/tf2_eigen-test.cpp b/tf2_eigen/test/tf2_eigen-test.cpp
index 59ff0b8e4..e931f6e07 100644
--- a/tf2_eigen/test/tf2_eigen-test.cpp
+++ b/tf2_eigen/test/tf2_eigen-test.cpp
@@ -38,6 +38,7 @@
 
 
 #include <gtest/gtest.h>
+#include <ros/ros.h>
 #include <tf2/convert.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/buffer.h>
@@ -336,7 +337,8 @@ TEST_F(EigenBufferTransform, QuaternionRotZ)
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
-  ros::Time::init();
+  ros::init(argc, argv, "test");
+  ros::NodeHandle n;
 
   return RUN_ALL_TESTS();
 }