Rebasing on top of circle CI and common Cmake functions changes.

.circleci/config.yml

@@ -129,14 +129,7 @@ references:
  name: Test Build
  command: |
  . install/setup.sh
- colcon test \
- --packages-skip \
- nav2_system_tests
- colcon test-result \
- --verbose
- cp src/navigation2/tools/ctest_retry.bash build/nav2_system_tests
- cd build/nav2_system_tests
- ./ctest_retry.bash 3
+ src/navigation2/tools/runtestsuite.bash
 
  copy_test_logs: &copy_test_logs
  run:

Dockerfile

@@ -69,22 +69,12 @@ RUN . $ROS_WS/install/setup.sh && \
 # build navigation2 package source
 RUN rm $NAV2_WS/src/navigation2/nav2_system_tests/COLCON_IGNORE
 ARG COVERAGE_ENABLED=False
-RUN if [ "$COVERAGE_ENABLED" = "True" ]; \
- then \
- . $ROS_WS/install/setup.sh && \
+RUN . $ROS_WS/install/setup.sh && \
  colcon build \
  --symlink-install \
  --cmake-args \
- -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE -DCMAKE_CXX_FLAGS=--coverage \
- -DCMAKE_C_FLAGS=--coverage -DCMAKE_EXE_LINKER_FLAGS=--coverage \
- -DCMAKE_SHARED_LINKER_FLAGS=--coverage ; \
- else \
- . $ROS_WS/install/setup.sh && \
- colcon build \
- --symlink-install \
- --cmake-args \
- -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE ; \
- fi
+ -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+ -DCOVERAGE_ENABLED=$COVERAGE_ENABLED
 
 # source navigation2 workspace from entrypoint
 RUN sed --in-place \

nav2_common/cmake/nav2_package.cmake

@@ -26,4 +26,11 @@ macro(nav2_package)
  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Werror -fPIC)
  endif()
+
+ option(COVERAGE_ENABLED "Enable code coverage" FALSE)
+ if(COVERAGE_ENABLED)
+ add_compile_options(--coverage)
+ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+ set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
+ endif()
 endmacro()