add file test

CMakeLists.txt

@@ -92,7 +92,7 @@ else()
 
   catkin_package(
     INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_utils
+    LIBRARIES ${PROJECT_NAME}
     CATKIN_DEPENDS
       robot_costmap_2d
       robot_nav_core
@@ -105,7 +105,7 @@ else()
       robot_visualization_msgs
       robot_nav_2d_utils
       data_convert
-    DEPENDS PCL Boost Eigen
+    DEPENDS PCL Boost
   )
 
   include_directories(
@@ -218,11 +218,11 @@ endif()
 # ========================================================
 if(BUILDING_WITH_CATKIN)
 
-  # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_utils
-  #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-  # )
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
 
   install(DIRECTORY include/${PROJECT_NAME}/
     DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
@@ -237,12 +237,12 @@ if(BUILDING_WITH_CATKIN)
 
 else()
 
-  # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_utils
-  #   EXPORT ${PROJECT_NAME}-targets
-  #   ARCHIVE DESTINATION lib
-  #   LIBRARY DESTINATION lib
-  #   RUNTIME DESTINATION bin
-  # )
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
 
   install(EXPORT ${PROJECT_NAME}-targets
     FILE ${PROJECT_NAME}-targets.cmake
@@ -290,24 +290,15 @@ if(CATKIN_ENABLE_TESTING)
     message(FATAL_ERROR "catkin_add_gtest NOT FOUND")
   endif()
 
-  find_package(GTest REQUIRED)
-
-  add_executable(test_mission_adapters
-    src/test_mission_adapters.cpp
-  )
-
-  target_link_libraries(test_mission_adapters
-    mission_adapters
-    GTest::GTest
-    GTest::Main
-    pthread
-    ${catkin_LIBRARIES}
+  catkin_add_gtest(test_mission_adapters
+    test/mission_adapters_test.cpp
   )
 
   if(TARGET test_mission_adapters)
     target_link_libraries(test_mission_adapters
       mission_adapters
       ${catkin_LIBRARIES}
+      pthread
     )
 
     target_include_directories(test_mission_adapters PRIVATE