Improve the compilation time of rviz_default_plugins (#1007)

* Cleanup rviz_visual_testing_framework CMakeLists.txt The main motivation here is to remove an exported absolute path from this package. To do this, mark everything in the CMakeLists.txt private that we can. This ended up exposing a bunch of missing dependencies in rviz_default_plugins, so fix those here as well. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 10, 2023 · 5af8896 · 5af8896
1 parent 439c683
commit 5af8896
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Showing 20 changed files with 441 additions and 391 deletions.
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
@@ -35,6 +35,8 @@
 
 #include <OgreSceneNode.h>
 
+#include "rclcpp/clock.hpp"
+
 void DisplayTestFixture::SetUpTestCase()
 {
   testing_environment_ = std::make_shared<rviz_default_plugins::OgreTestingEnvironment>();

diff --git a/...fault_plugins/displays/interactive_markers/interactive_marker_namespace_property_test.cpp b/...fault_plugins/displays/interactive_markers/interactive_marker_namespace_property_test.cpp
@@ -31,6 +31,8 @@
 
 #include <gtest/gtest.h>
 
+#include <QString>
+
 #include \
   "rviz_default_plugins/displays/interactive_markers/interactive_marker_namespace_property.hpp"
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.cpp
@@ -36,7 +36,11 @@
 
 #include <OgreVector.h>
 
+#include "geometry_msgs/msg/point.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/color_rgba.hpp"
+#include "std_msgs/msg/header.hpp"
+#include "visualization_msgs/msg/marker.hpp"
 
 namespace testing
 {

diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.hpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_messages.hpp
@@ -32,6 +32,8 @@
 #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_MESSAGES_HPP_
 #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_MESSAGES_HPP_
 
+#include "geometry_msgs/msg/point.hpp"
+#include "std_msgs/msg/color_rgba.hpp"
 #include "visualization_msgs/msg/marker.hpp"
 
 namespace testing

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/map_display_page_object.cpp
@@ -27,6 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <QString>
+
 #include "map_display_page_object.hpp"
 
 MapDisplayPageObject::MapDisplayPageObject()

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/marker_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/marker_display_page_object.cpp
@@ -27,6 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <QString>
+
 #include "marker_display_page_object.hpp"
 
 MarkerDisplayPageObject::MarkerDisplayPageObject()

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/marker_display_page_object.hpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/marker_display_page_object.hpp
@@ -30,6 +30,8 @@
 #ifndef RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__MARKER_DISPLAY_PAGE_OBJECT_HPP_
 #define RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__MARKER_DISPLAY_PAGE_OBJECT_HPP_
 
+#include <QString>
+
 #include "rviz_visual_testing_framework/page_objects/base_page_object.hpp"
 
 class MarkerDisplayPageObject : public BasePageObject

diff --git a/...default_plugins/test/rviz_default_plugins/page_objects/point_cloud_common_page_object.hpp b/...default_plugins/test/rviz_default_plugins/page_objects/point_cloud_common_page_object.hpp
@@ -30,6 +30,8 @@
 #ifndef RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__POINT_CLOUD_COMMON_PAGE_OBJECT_HPP_
 #define RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__POINT_CLOUD_COMMON_PAGE_OBJECT_HPP_
 
+#include <QString>
+
 #include "rviz_visual_testing_framework/page_objects/base_page_object.hpp"
 
 class PointCloudCommonPageObject : public BasePageObject

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/pose_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/pose_display_page_object.cpp
@@ -29,6 +29,8 @@
 
 #include "pose_display_page_object.hpp"
 
+#include <QString>
+
 #include <memory>
 #include <vector>
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/pose_display_page_object.hpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/pose_display_page_object.hpp
@@ -30,6 +30,8 @@
 #ifndef RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__POSE_DISPLAY_PAGE_OBJECT_HPP_
 #define RVIZ_DEFAULT_PLUGINS__PAGE_OBJECTS__POSE_DISPLAY_PAGE_OBJECT_HPP_
 
+#include <QString>
+
 #include "rviz_visual_testing_framework/page_objects/base_page_object.hpp"
 
 class PoseDisplayPageObject : public BasePageObject

diff --git a/...ugins/test/rviz_default_plugins/page_objects/pose_with_covariance_display_page_object.cpp b/...ugins/test/rviz_default_plugins/page_objects/pose_with_covariance_display_page_object.cpp
@@ -28,6 +28,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <QString>
+
 #include "pose_with_covariance_display_page_object.hpp"
 
 PoseWithCovarianceDisplayPageObject::PoseWithCovarianceDisplayPageObject()

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/range_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/range_display_page_object.cpp
@@ -27,6 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <QString>
+
 #include "range_display_page_object.hpp"
 
 RangeDisplayPageObject::RangeDisplayPageObject()

diff --git a/...efault_plugins/test/rviz_default_plugins/page_objects/robot_model_display_page_object.cpp b/...efault_plugins/test/rviz_default_plugins/page_objects/robot_model_display_page_object.cpp
@@ -27,6 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <QString>
+
 #include "robot_model_display_page_object.hpp"
 
 RobotModelDisplayPageObject::RobotModelDisplayPageObject()

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/tf_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/tf_display_page_object.cpp
@@ -29,6 +29,8 @@
 
 #include "tf_display_page_object.hpp"
 
+#include <QString>
+
 #include <memory>
 #include <vector>
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/page_objects/wrench_display_page_object.cpp b/rviz_default_plugins/test/rviz_default_plugins/page_objects/wrench_display_page_object.cpp
@@ -29,6 +29,8 @@
 
 #include "wrench_display_page_object.hpp"
 
+#include <QString>
+
 #include <memory>
 #include <vector>
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.cpp b/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.cpp
@@ -33,7 +33,11 @@
 #include <memory>
 #include <vector>
 
+#include "geometry_msgs/msg/point32.hpp"
 #include "rclcpp/clock.hpp"
+#include "sensor_msgs/msg/point_cloud2.hpp"
+#include "sensor_msgs/msg/point_field.hpp"
+#include "std_msgs/msg/header.hpp"
 
 namespace rviz_default_plugins
 {

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/pose_array_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/pose_array_publisher.hpp
@@ -35,6 +35,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/clock.hpp"
 #include "std_msgs/msg/header.hpp"
+#include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_array.hpp"
 
 using namespace std::chrono_literals;  // NOLINT

diff --git a/rviz_visual_testing_framework/CMakeLists.txt b/rviz_visual_testing_framework/CMakeLists.txt
@@ -24,47 +24,20 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-
+find_package(geometry_msgs REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
+find_package(rclcpp REQUIRED)
 find_package(rcutils REQUIRED)
-
 find_package(rviz_common REQUIRED)
-
 find_package(rviz_ogre_vendor REQUIRED)
-
-find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
+find_package(rviz_rendering REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 find_package(ament_cmake_gtest REQUIRED)
 ament_find_gtest()
 
-set(visual_test_framework_source_files
-  include/rviz_visual_testing_framework/page_objects/base_page_object.hpp
-  src/page_objects/base_page_object.cpp
-  include/rviz_visual_testing_framework/page_objects/page_object_with_window.hpp
-  src/page_objects/page_object_with_window.cpp
-  src/internal/rviz_scene_test.cpp
-  include/rviz_visual_testing_framework/internal/rviz_scene_test.hpp
-  include/rviz_visual_testing_framework/internal/display_handler.hpp
-  src/internal/display_handler.cpp
-  src/internal/image_tester.cpp
-  include/rviz_visual_testing_framework/internal/image_tester.hpp
-  include/rviz_visual_testing_framework/test_helpers.hpp
-  src/test_helpers.cpp
-  include/rviz_visual_testing_framework/internal/executor.hpp
-  src/internal/executor.cpp
-  include/rviz_visual_testing_framework/internal/transform_message_creator.hpp
-  src/internal/transform_message_creator.cpp
-  include/rviz_visual_testing_framework/internal/visual_test.hpp
-  src/internal/visual_test.cpp
-  include/rviz_visual_testing_framework/visual_test_fixture.hpp
-  src/visual_test_fixture.cpp
-  include/rviz_visual_testing_framework/visual_test_publisher.hpp
-)
-
-set(visual_tests_target_libaries
-  rviz_common::rviz_common
-  Qt5::Widgets
-  Qt5::Test)
-
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
 if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
   get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION)
@@ -77,20 +50,41 @@ if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
   )
 endif()
 
-add_library(rviz_visual_testing_framework STATIC ${visual_test_framework_source_files})
+add_library(rviz_visual_testing_framework STATIC
+  src/page_objects/base_page_object.cpp
+  src/page_objects/page_object_with_window.cpp
+  src/internal/rviz_scene_test.cpp
+  src/internal/display_handler.cpp
+  src/internal/image_tester.cpp
+  src/test_helpers.cpp
+  src/internal/executor.cpp
+  src/internal/transform_message_creator.cpp
+  src/internal/visual_test.cpp
+  src/visual_test_fixture.cpp
+)
 
 target_include_directories(rviz_visual_testing_framework
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
     ${GTEST_INCLUDE_DIRS})
 
-target_link_libraries(rviz_visual_testing_framework
-  ${visual_tests_target_libaries})
+target_link_libraries(rviz_visual_testing_framework PUBLIC
+  ${geometry_msgs_TARGETS}
+  Qt5::Test
+  Qt5::Widgets
+  rclcpp::rclcpp
+  rcutils::rcutils
+  rviz_common::rviz_common
+  rviz_ogre_vendor::OgreMain
+  rviz_rendering::rviz_rendering
+  ${std_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+)
 
 # export information to downstream packages
-ament_export_dependencies(Qt5)
-ament_export_dependencies(rviz_common)
+ament_export_dependencies(geometry_msgs Qt5 rclcpp rcutils rviz_common rviz_ogre_vendor rviz_rendering std_msgs tf2 tf2_ros)
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")

diff --git a/rviz_visual_testing_framework/package.xml b/rviz_visual_testing_framework/package.xml
@@ -26,8 +26,15 @@
 
   <build_depend>qtbase5-dev</build_depend>
 
+  <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>rviz_common</depend>
+  <depend>rviz_ogre_vendor</depend>
+  <depend>rviz_rendering</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
   <depend>ament_cmake_gtest</depend>
 
   <!-- TODO(jacobperron): Replace with ament_lint_common when ament_copyright is working -->