From 4c2fb2cbfe8e24044e040d00b01a8ab173364467 Mon Sep 17 00:00:00 2001
From: Fabian Hirmann <f.hirmann@arti-robots.com>
Date: Thu, 3 Oct 2024 16:38:42 +0200
Subject: [PATCH] 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      | 3 ++-
 fuse_optimizers/test/optimizer.test | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/fuse_optimizers/CMakeLists.txt b/fuse_optimizers/CMakeLists.txt
index 3bb31f6f7..2fd11dc1e 100644
--- a/fuse_optimizers/CMakeLists.txt
+++ b/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
diff --git a/fuse_optimizers/test/optimizer.test b/fuse_optimizers/test/optimizer.test
index 0c47468d9..4eb8b2b49 100644
--- a/fuse_optimizers/test/optimizer.test
+++ b/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"/>