urdf directory code updated

package path updated to find urdf and xsd file

Author: sachinkum0009

hardware_interface/CMakeLists.txt

@@ -106,8 +106,8 @@ if(BUILD_TESTING)
   # Test XML Schema Validator
   ament_add_gmock(test_validate_xml_schema test/test_validate_xml_schema.cpp)
   target_link_libraries(test_validate_xml_schema
-     ament_index_cpp::ament_index_cpp
-     LibXml2::LibXml2
+    ament_index_cpp::ament_index_cpp
+    LibXml2::LibXml2
   )
 
   add_library(test_hardware_components SHARED
@@ -144,11 +144,6 @@ install(
   LIBRARY DESTINATION lib
 )
 
-install(
-  DIRECTORY schema urdf
-  DESTINATION share/hardware_interface
-)
-
 ament_export_targets(export_hardware_interface HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()

hardware_interface/test/test_validate_xml_schema.cpp

@@ -97,11 +97,13 @@ class XmlSchemaValidationTest : public ::testing::Test
   void SetUp() override
   {
     // Use ament_index_cpp to get the package share directory
-    std::string package_share_dir =
+    std::string urdf_package_share_dir =
+      ament_index_cpp::get_package_share_directory("ros2_control_test_assets");
+    std::string xsd_package_share_dir =
       ament_index_cpp::get_package_share_directory("hardware_interface");
-    valid_xml = package_share_dir + "/urdf/test_hardware_components.urdf";
-    invalid_xml = package_share_dir + "/urdf/test_hardware_components_with_error.urdf";
-    xsd = package_share_dir + "/schema/ros2_control.xsd";
+    valid_xml = urdf_package_share_dir + "/urdf/test_hardware_components.urdf";
+    invalid_xml = urdf_package_share_dir + "/urdf/test_hardware_components_with_error.urdf";
+    xsd = xsd_package_share_dir + "/schema/ros2_control.xsd";
   }
 };
 

ros2_control_test_assets/CMakeLists.txt

@@ -15,7 +15,7 @@ install(
   DESTINATION include/ros2_control_test_assets
 )
 install(
-  FILES urdf/test_hardware_components.urdf
+  FILES urdf/test_hardware_components.urdf urdf/test_hardware_components_with_error.urdf
   DESTINATION share/ros2_control_test_assets/urdf
 )
 install(TARGETS ros2_control_test_assets