find_package(easynav_controller REQUIRED)
ament_add_gtest(regulated_pp_controller_tests regulated_pp_controller_tests.cpp)
target_link_libraries(regulated_pp_controller_tests
  ${PROJECT_NAME}
)

find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)

ament_add_gtest(regulated_pp_controller_reconfigure_tests
  regulated_pp_controller_reconfigure_tests.cpp)
target_link_libraries(regulated_pp_controller_reconfigure_tests
  ${PROJECT_NAME}
  rclcpp::rclcpp
  rclcpp_lifecycle::rclcpp_lifecycle
)

ament_add_gtest(regulated_pp_controller_robot_limits_tests regulated_pp_controller_robot_limits_tests.cpp)
target_link_libraries(regulated_pp_controller_robot_limits_tests
  ${PROJECT_NAME}
  easynav_controller::easynav_controller
)

ament_add_gtest(regulated_pp_controller_legacy_params_file_tests regulated_pp_controller_legacy_params_file_tests.cpp)
target_link_libraries(regulated_pp_controller_legacy_params_file_tests easynav_controller::easynav_controller)
target_compile_definitions(regulated_pp_controller_legacy_params_file_tests
  PRIVATE TEST_DATA_DIR="${CMAKE_CURRENT_SOURCE_DIR}/data")

find_package(easynav_sensors REQUIRED)
ament_add_gtest(regulated_pp_controller_obstacle_area_tests
  regulated_pp_controller_obstacle_area_tests.cpp)
target_link_libraries(regulated_pp_controller_obstacle_area_tests
  ${PROJECT_NAME}
  easynav_sensors::easynav_sensors
)

find_package(easynav_planner REQUIRED)
ament_add_gtest(regulated_pp_faulty_planner_tests regulated_pp_faulty_planner_tests.cpp)
target_link_libraries(regulated_pp_faulty_planner_tests
  ${PROJECT_NAME}
  easynav_controller::easynav_controller
  easynav_planner::faulty_planner
)
