update to windows

CMakeLists.txt

@@ -262,3 +262,58 @@ else()
   endif()
 
 endif()
+
+# ========================================================
+# Unit Test
+# ========================================================
+if(CATKIN_ENABLE_TESTING)
+
+  find_package(catkin REQUIRED COMPONENTS
+    robot_costmap_2d
+    robot_nav_core
+    robot_nav_core2
+    robot_nav_msgs
+    robot_std_msgs
+    robot_geometry_msgs
+    robot_cpp
+    robot_tf3_geometry_msgs
+    robot_visualization_msgs
+    robot_nav_2d_utils
+    data_convert
+  )
+
+  message(STATUS "CATKIN_ENABLE_TESTING=${CATKIN_ENABLE_TESTING}")
+
+  if(COMMAND catkin_add_gtest)
+    message(STATUS "catkin_add_gtest exists")
+  else()
+    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}
+  )
+
+  if(TARGET test_mission_adapters)
+    target_link_libraries(test_mission_adapters
+      mission_adapters
+      ${catkin_LIBRARIES}
+    )
+
+    target_include_directories(test_mission_adapters PRIVATE
+      ${CMAKE_CURRENT_SOURCE_DIR}/include
+      ${catkin_INCLUDE_DIRS}
+    )
+  endif()
+
+endif()