Fix building on running on Windows Debug. (#82)

* Fix building on running on Windows Debug.

In particular, we need to set the python executable properly
when running on Windows Debug.  While we are in here, we also
fix up some dependencies in the package.xml and CMakeLists.txt.
We also have to remove WERROR ON, due to some Python
warnings that are outside of our control.  Finally, we heavily
reduce the number of tests being run here so that the tests
complete in a reasonable amount of time, even on (slow) Windows
debug.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

CMakeLists.txt

@@ -7,7 +7,6 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_pytest REQUIRED)
 
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -71,7 +70,6 @@ if(BUILD_TESTING)
   ament_uncrustify()
 
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(ament_cmake_gmock REQUIRED)
 
   ament_add_gtest(projection_test
     test/projection_test.cpp
@@ -80,10 +78,24 @@ if(BUILD_TESTING)
     target_link_libraries(projection_test laser_geometry)
   endif()
 
+  # Python test
+  # Provides PYTHON_EXECUTABLE_DEBUG
+  find_package(python_cmake_module REQUIRED)
+  find_package(PythonExtra REQUIRED)
+
+  set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+  endif()
+
+  find_package(ament_cmake_pytest REQUIRED)
+
   ament_add_pytest_test(projection test/projection_test.py
     TIMEOUT 120
-    WERROR ON
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
   )
+
+  set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
 endif()
 
 ament_package()