Move test into own package

moveit_ros/tests/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.22)
+project(moveit_ros_tests LANGUAGES CXX)
+
+# Common cmake code applied to all moveit packages
+find_package(moveit_common REQUIRED)
+moveit_package()
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)  
+  find_package(ament_cmake REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(ros_testing REQUIRED)
+
+  include_directories(include)
+  ament_add_gtest_executable(move_group_api_test src/move_group_api_test.cpp)
+  ament_target_dependencies(move_group_api_test rclcpp)
+  add_ros_test(launch/move_group_api.test.py TIMEOUT 30 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
+endif()

moveit_ros/tests/package.xml

@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>moveit_ros_tests</name>
+  <version>2.9.0</version>
+  <description>Integration tests for moveit_ros</description>
+  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <url type="website">http://moveit.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit2</url>
+
+  <author email="sebastian.jahr@picknik.ai">Sebastian Jahr</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>moveit_common</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>moveit_configs_utils</test_depend>
+  <test_depend>moveit_core</test_depend>
+  <test_depend>moveit_resources_panda_moveit_config</test_depend>
+  <test_depend>moveit_ros_planning</test_depend>
+  <test_depend>moveit_ros_planning_interface</test_depend>
+  <test_depend>moveit_simple_controller_manager</test_depend>
+  <test_depend>moveit_planners_ompl</test_depend>
+  <test_depend>moveit_planners_chomp</test_depend>
+  <test_depend>moveit_planners_stomp</test_depend>
+  <test_depend>moveit_ros_move_group</test_depend>
+  <test_depend>pilz_industrial_motion_planner</test_depend>
+  <test_depend>ros_testing</test_depend>
+  <test_depend>tf2_ros</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>