From e7e279c0dd65871c2159e8cb8c592516e2deee0d Mon Sep 17 00:00:00 2001
From: Abrar Rahman Protyasha <aprotyas@u.rochester.edu>
Date: Sun, 17 Oct 2021 18:52:04 -0400
Subject: [PATCH] tf2: Enable common linter tests

Each of the common linters were individually `find_package`-d
and invoked in the CMakeLists.txt file. This is because there
is no simple way to pass file exclusion information through
`ament_lint_auto`.

File exclusion is necessary because we do not want to run linters
on the include/tf2/LinearMath/ headers, since these are
external and periodically synced with upstream. See
https://github.com/ros2/geometry2/pull/258#issuecomment-621499030
for more information.

Signed-off-by: Abrar Rahman Protyasha <aprotyas@u.rochester.edu>
---
 tf2/CMakeLists.txt | 34 ++++++++++++++++++++++++++++++++--
 tf2/package.xml    |  8 ++++++--
 2 files changed, 38 insertions(+), 4 deletions(-)

diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
index a03128a06..76ec7efbf 100644
--- a/tf2/CMakeLists.txt
+++ b/tf2/CMakeLists.txt
@@ -45,9 +45,39 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 # Tests
 if(BUILD_TESTING)
-  # TODO(clalancette) enable linters once https://github.com/ament/ament_lint/pull/238 lands
+  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
 
-  find_package(ament_cmake_gtest)
+  # Should not lint external code
+  set(
+    _linter_excludes
+    include/tf2/LinearMath/Matrix3x3.h
+    include/tf2/LinearMath/MinMax.h
+    include/tf2/LinearMath/QuadWord.h
+    include/tf2/LinearMath/Quaternion.h
+    include/tf2/LinearMath/Scalar.h
+    include/tf2/LinearMath/Transform.h
+    include/tf2/LinearMath/Vector3.h
+  )
+
+  ament_copyright(EXCLUDE ${_linter_excludes})
+  ament_cppcheck(
+    EXCLUDE ${_linter_excludes}
+    LANGUAGE c++
+  )
+  ament_cpplint(EXCLUDE ${_linter_excludes})
+  ament_lint_cmake()
+  ament_uncrustify(
+      EXCLUDE ${_linter_excludes}
+      LANGUAGE c++
+  )
+  ament_xmllint()
+
+  find_package(ament_cmake_gtest REQUIRED)
 
   ament_add_gtest(test_cache_unittest test/cache_unittest.cpp)
   if(TARGET test_cache_unittest)
diff --git a/tf2/package.xml b/tf2/package.xml
index 87c9bac13..88136254f 100644
--- a/tf2/package.xml
+++ b/tf2/package.xml
@@ -29,8 +29,12 @@
   <depend>rcutils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_cpplint</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>