ros-navigation · SteveMacenski · Jan 18, 2023 · Jan 17, 2023 · Jan 17, 2023 · Jan 17, 2023
diff --git a/nav2_behavior_tree/test/CMakeLists.txt b/nav2_behavior_tree/test/CMakeLists.txt
@@ -1,7 +1,14 @@
 ament_add_gtest(test_bt_conversions test_bt_conversions.cpp)
 ament_target_dependencies(test_bt_conversions ${dependencies})
 
+include_directories(.)
+
 add_subdirectory(plugins/condition)
 add_subdirectory(plugins/decorator)
 add_subdirectory(plugins/control)
 add_subdirectory(plugins/action)
+
+install(DIRECTORY utils
+        DESTINATION include/)
+
+ament_export_include_directories(utils)
diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp"
 
 class AssistedTeleopActionServer : public TestActionServer<nav2_msgs::action::AssistedTeleop>

diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
@@ -20,7 +20,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/back_up_action.hpp"
 
 class BackUpActionServer : public TestActionServer<nav2_msgs::action::BackUp>

diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp b/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp
@@ -20,7 +20,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_service.hpp"
+#include "utils/test_service.hpp"
 #include "nav2_behavior_tree/plugins/action/clear_costmap_service.hpp"
 
 class ClearEntireCostmapService : public TestService<nav2_msgs::srv::ClearEntireCostmap>

diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
@@ -24,7 +24,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp"
 
 class ComputePathThroughPosesActionServer

diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
@@ -23,7 +23,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp"
 
 class ComputePathToPoseActionServer : public TestActionServer<nav2_msgs::action::ComputePathToPose>

diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/controller_cancel_node.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
@@ -19,7 +19,7 @@
 #include <set>
 #include <string>
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "nav2_behavior_tree/plugins/action/controller_selector_node.hpp"
 #include "nav_msgs/msg/path.hpp"

diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp
@@ -20,7 +20,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp"
 
 class DriveOnHeadingActionServer : public TestActionServer<nav2_msgs::action::DriveOnHeading>

diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
@@ -23,7 +23,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/follow_path_action.hpp"
 
 class FollowPathActionServer : public TestActionServer<nav2_msgs::action::FollowPath>

diff --git a/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp
@@ -19,7 +19,7 @@
 #include <set>
 #include <string>
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp"
 #include "nav_msgs/msg/path.hpp"

diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
@@ -25,7 +25,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp"
 
 class NavigateThroughPosesActionServer

diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
@@ -24,7 +24,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp"
 
 class NavigateToPoseActionServer : public TestActionServer<nav2_msgs::action::NavigateToPose>

diff --git a/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp
@@ -19,7 +19,7 @@
 #include <set>
 #include <string>
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "nav2_behavior_tree/plugins/action/planner_selector_node.hpp"
 #include "nav_msgs/msg/path.hpp"

diff --git a/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp b/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp
@@ -20,7 +20,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_service.hpp"
+#include "utils/test_service.hpp"
 #include "nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.hpp"
 
 class ReinitializeGlobalLocalizationService : public TestService<std_srvs::srv::Empty>

diff --git a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
@@ -25,9 +25,9 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp"
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 
 class RemovePassedGoalsTestFixture : public ::testing::Test
 {

diff --git a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp
@@ -23,7 +23,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/smooth_path_action.hpp"
 
 class SmoothPathActionServer : public TestActionServer<nav2_msgs::action::SmoothPath>

diff --git a/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp
@@ -19,7 +19,7 @@
 #include <set>
 #include <string>
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "nav2_behavior_tree/plugins/action/smoother_selector_node.hpp"
 #include "nav_msgs/msg/path.hpp"

diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
@@ -20,7 +20,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/spin_action.hpp"
 
 class SpinActionServer : public TestActionServer<nav2_msgs::action::Spin>

diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/spin_cancel_node.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp
@@ -24,7 +24,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/truncate_path_action.hpp"
 
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp
@@ -23,7 +23,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/action/truncate_path_local_action.hpp"
 
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
@@ -20,7 +20,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/wait_action.hpp"
 
 class WaitActionServer : public TestActionServer<nav2_msgs::action::Wait>

diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp
@@ -19,7 +19,7 @@
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "../../test_action_server.hpp"
+#include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/wait_cancel_node.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt b/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt
@@ -57,4 +57,3 @@ ament_target_dependencies(test_would_a_planner_recovery_help ${dependencies})
 ament_add_gtest(test_would_a_smoother_recovery_help test_would_a_smoother_recovery_help.cpp)
 target_link_libraries(test_would_a_smoother_recovery_help nav2_would_a_smoother_recovery_help_condition_bt_node)
 ament_target_dependencies(test_would_a_smoother_recovery_help ${dependencies})
-
diff --git a/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp b/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp
@@ -16,7 +16,7 @@
 #include <memory>
 #include <map>
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp"
 #include "nav2_msgs/action/follow_path.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp b/nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp
@@ -19,7 +19,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp"
 
 class DistanceTraveledConditionTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture

diff --git a/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp b/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp
@@ -19,7 +19,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp"
 
 class GloballyUpdatedGoalConditionTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture

diff --git a/nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp b/nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp
@@ -21,7 +21,7 @@
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp"
 
 using namespace std::chrono;  // NOLINT

diff --git a/nav2_behavior_tree/test/plugins/condition/test_goal_updated.cpp b/nav2_behavior_tree/test/plugins/condition/test_goal_updated.cpp
@@ -20,7 +20,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp"
 
 class GoalUpdatedConditionTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture

diff --git a/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp b/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp
@@ -18,7 +18,7 @@
 #include <set>
 #include <string>
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp"
 
 class TestNode : public BT::SyncActionNode

diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp
@@ -21,7 +21,7 @@
 
 #include "sensor_msgs/msg/battery_state.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp"
 
 class IsBatteryLowConditionTestFixture : public ::testing::Test

diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp
@@ -21,9 +21,9 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
-#include "../../test_service.hpp"
+#include "utils/test_service.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp"
 
 using namespace std::chrono;  // NOLINT

diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_stuck.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_stuck.cpp
@@ -22,7 +22,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp"
 
 using namespace std::chrono;  // NOLINT

diff --git a/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp b/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp
@@ -20,7 +20,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp"
 
 using namespace std::chrono;  // NOLINT

diff --git a/nav2_behavior_tree/test/plugins/condition/test_time_expired.cpp b/nav2_behavior_tree/test/plugins/condition/test_time_expired.cpp
@@ -21,7 +21,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/robot_utils.hpp"
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/time_expired_condition.hpp"
 
 using namespace std::chrono;  // NOLINT

diff --git a/nav2_behavior_tree/test/plugins/condition/test_transform_available.cpp b/nav2_behavior_tree/test/plugins/condition/test_transform_available.cpp
@@ -19,7 +19,7 @@
 #include <chrono>
 #include <string>
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/transform_available_condition.hpp"
 
 class TransformAvailableConditionTestFixture : public ::testing::Test

diff --git a/nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp b/nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp
@@ -16,7 +16,7 @@
 #include <memory>
 #include <map>
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.hpp"
 #include "nav2_msgs/action/follow_path.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp b/nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp
@@ -16,7 +16,7 @@
 #include <memory>
 #include <map>
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp"
 #include "nav2_msgs/action/compute_path_to_pose.hpp"
 

diff --git a/nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp b/nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp
@@ -16,7 +16,7 @@
 #include <memory>
 #include <map>
 
-#include "../../test_behavior_tree_fixture.hpp"
+#include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp"
 #include "nav2_msgs/action/smooth_path.hpp"
Original file line number	Diff line number	Diff line change
Expand Up		@@ -57,4 +57,3 @@ ament_target_dependencies(test_would_a_planner_recovery_help ${dependencies})
		ament_add_gtest(test_would_a_smoother_recovery_help test_would_a_smoother_recovery_help.cpp)
		target_link_libraries(test_would_a_smoother_recovery_help nav2_would_a_smoother_recovery_help_condition_bt_node)
		ament_target_dependencies(test_would_a_smoother_recovery_help ${dependencies})