Fix scitos2_mira test

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

scitos2_mira/CMakeLists.txt

@@ -11,7 +11,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  #add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  # add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
   add_compile_options(-Wall -Wextra)
   add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
 endif()
@@ -87,11 +87,16 @@ install(DIRECTORY launch params
   DESTINATION share/${PROJECT_NAME}/
 )
 
+install(FILES test/scitos_config.xml
+  DESTINATION share/${PROJECT_NAME}/test
+)
+
 # ###########
 # Testing  ##
 # ###########
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()

scitos2_mira/test/scitos_config.xml

@@ -0,0 +1,3 @@
+<root>
+    <link child="RobotFrame" parent="OdometryFrame" />
+</root>

scitos2_mira/test/test_mira_framework.cpp

@@ -15,6 +15,7 @@
 
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include "lifecycle_msgs/msg/state.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "scitos2_mira/mira_framework.hpp"
@@ -30,6 +31,14 @@ class MiraFrameworkFixture : public scitos2_mira::MiraFramework
 TEST(ScitosMiraFrameworkTest, configure) {
   // Create the node
   auto node = std::make_shared<MiraFrameworkFixture>();
+
+  // Set the scitos config parameter. In the the robot this should be a XML file
+  std::string pkg = ament_index_cpp::get_package_share_directory("scitos2_mira");
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, "scitos_config", rclcpp::ParameterValue(pkg + "/test/scitos_config.xml"));
+
+  // Configure the node
   node->configure();
   node->activate();