Migrate to gtest

Author: emersonknapp

.config/clang-format

@@ -1,6 +1,5 @@
 ---
-# C++ Formatting rules for Polymath Code Standard - https://gitlab.com/polymathrobotics/polymath_code_standard
-# Synced from origin - DO NOT EDIT IN CONSUMING REPOSITORY
+# C++ Formatting rules for Polymath Code Standard
 
 # See https://releases.llvm.org/14.0.0/tools/clang/docs/ClangFormatStyleOptions.html for documentation of these options
 BasedOnStyle: Google

behaviortree_cpp_pluginlib/CMakeLists.txt

@@ -81,11 +81,11 @@ if(BUILD_TESTING)
     @ONLY
   )
 
-  set(TEST_SOURCES
+  ament_add_gtest(test_register
     test/test_register.cpp
     ${PROJECT_BINARY_DIR}/test/autoregistrar.cpp
   )
-  polymath_add_catch2_test(test_register "${TEST_SOURCES}" ${PROJECT_NAME})
+  target_link_libraries(test_register ${PROJECT_NAME})
 endif()
 
 ament_export_targets(${PROJECT_NAME}_TARGETS HAS_LIBRARY_TARGET)

behaviortree_cpp_pluginlib/package.xml

@@ -15,7 +15,7 @@
   <depend>pluginlib</depend>
   <depend>rcutils</depend>
 
-  <test_depend>polymath_test</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

behaviortree_cpp_pluginlib/test/test_register.cpp

@@ -15,7 +15,7 @@
 #include <string>
 
 #include "behaviortree_cpp_pluginlib/register_macro.hpp"
-#include "polymath_test/catch2.hpp"
+#include "gtest/gtest.h"
 
 namespace btplugin::testing
 {
@@ -50,19 +50,19 @@ BT_PLUGIN_REGISTER(factory)
   factory.registerNodeType<btplugin::testing::CustomNode3>("CustomNode3");
 }
 
-TEST_CASE("Plugin registration macros")
+TEST(Registration, MacrosBasicUse)
 {
   BT::BehaviorTreeFactory factory;
 
   auto plugin_fns = BT::get_plugin_register_functions();
-  REQUIRE(plugin_fns.size() == 2);
+  ASSERT_EQ(plugin_fns.size(), 2);
   for (const auto & plugin_fn : plugin_fns) {
     plugin_fn(factory);
   }
 
   auto builders = factory.builders();
-  REQUIRE_NOTHROW(builders.at("CustomNode1"));
-  REQUIRE_NOTHROW(builders.at("CustomNode2"));
-  REQUIRE_NOTHROW(builders.at("CustomNode3"));
-  REQUIRE_THROWS_AS(builders.at("NonexistentNode"), std::out_of_range);
+  ASSERT_NO_THROW(builders.at("CustomNode1"));
+  ASSERT_NO_THROW(builders.at("CustomNode2"));
+  ASSERT_NO_THROW(builders.at("CustomNode3"));
+  ASSERT_THROW(builders.at("NonexistentNode"), std::out_of_range);
 }

behaviortree_cpp_pluginlib_tests/CMakeLists.txt

@@ -50,8 +50,10 @@ if(BUILD_TESTING)
     RUNTIME DESTINATION bin
   )
 
-  polymath_add_catch2_test(test_factory test/test_factory.cpp test_plugin_a)
-  target_link_libraries(test_factory behaviortree_cpp_pluginlib::behaviortree_cpp_pluginlib)
+  ament_add_gtest(test_factory test/test_factory.cpp)
+  target_link_libraries(test_factory
+    behaviortree_cpp_pluginlib::behaviortree_cpp_pluginlib
+  )
 endif()
 
 ament_package()

behaviortree_cpp_pluginlib_tests/package.xml

@@ -11,8 +11,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>behaviortree_cpp_pluginlib</test_depend>
-  <test_depend>polymath_test</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

behaviortree_cpp_pluginlib_tests/test/test_factory.cpp

@@ -17,15 +17,15 @@
 #include <vector>
 
 #include "behaviortree_cpp_pluginlib/factory.hpp"
-#include "polymath_test/catch2.hpp"
+#include "gtest/gtest.h"
 
-TEST_CASE("Autofactory finds plugins registered via the various macros")
+TEST(Factory, AutofactoryEndToEnd)
 {
   BT::PluginAwareFactory factory;
   const auto & builders = factory.builders();
-  REQUIRE_NOTHROW(builders.at("CustomNodeA1"));
-  REQUIRE_NOTHROW(builders.at("CustomNodeA2"));
-  REQUIRE_NOTHROW(builders.at("CustomNodeB1"));
-  REQUIRE_NOTHROW(builders.at("CustomNodeB2"));
-  REQUIRE_THROWS_AS(builders.at("NonexistentNode"), std::out_of_range);
+  ASSERT_NO_THROW(builders.at("CustomNodeA1"));
+  ASSERT_NO_THROW(builders.at("CustomNodeA2"));
+  ASSERT_NO_THROW(builders.at("CustomNodeB1"));
+  ASSERT_NO_THROW(builders.at("CustomNodeB2"));
+  ASSERT_THROW(builders.at("NonexistentNode"), std::out_of_range);
 }