fuse_optimizers test: split optimizer.test into two rostests instead …

…of depending on add_rostest_gtest doing it right and give unique test-names instead of twice the same which might fix this flaky test

fuse_optimizers/CMakeLists.txt

@@ -158,7 +158,7 @@ if(CATKIN_ENABLE_TESTING)
   )
 
   # Optimizer Tests
-  add_rostest_gtest(test_optimizer
+  catkin_add_executable_with_gtest(test_optimizer
     test/optimizer.test
     test/test_optimizer.cpp
   )
@@ -182,6 +182,7 @@ if(CATKIN_ENABLE_TESTING)
   )
 
   add_rostest(test/optimizer.test ARGS config:=list DEPENDENCIES test_optimizer)
+  add_rostest(test/optimizer.test ARGS config:=struct DEPENDENCIES test_optimizer)
 
   # Fixed-lag Ignition test
   add_rostest_gtest(test_fixed_lag_ignition

fuse_optimizers/test/optimizer.test

@@ -2,7 +2,7 @@
 <launch>
   <arg name="config" default="struct" doc="Config format: {list, struct}"/>
 
-  <test test-name="Optimizer" pkg="fuse_optimizers" type="test_optimizer">
+  <test test-name="Optimizer_config_$(arg config)" pkg="fuse_optimizers" type="test_optimizer">
     <rosparam file="$(find fuse_optimizers)/test/config/$(arg config)/common_robot_config.yaml" command="load"/>
     <rosparam file="$(find fuse_optimizers)/test/config/$(arg config)/robot_with_imu_config.yaml" command="load"/>
     <rosparam file="$(find fuse_optimizers)/test/config/$(arg config)/noisy_motion_model_config.yaml" command="load"/>