Commit 252e120c authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Revert "Revert "[Tests] fix absolute path""

This reverts commit 37241cd3.
To re-apply commit 4aac9726.
parent 87029f9c
......@@ -10,5 +10,6 @@
#ifndef TEST_PATHS_H
#define PLUGIN_LIB_INSTALL_PATH "${SOT_PLUGIN_OUT_DIR}"
#define TALOS_DATA_MODEL_DIR "${TALOS_DATA_PREFIX}/share/talos_data/"
#endif
......@@ -9,6 +9,8 @@
#include <boost/test/unit_test.hpp>
#include "test-paths.h"
using namespace dynamicgraph::sot;
using namespace dynamicgraph::sot::talos_balance;
......@@ -34,12 +36,7 @@ BOOST_AUTO_TEST_CASE ( test_distribute )
std::cout << "q: " << q.transpose() << std::endl;
//from rospkg import RosPack
//rospack = RosPack()
//urdfPath = rospack.get_path('talos_data')+"/urdf/talos_reduced.urdf"
//urdfDir = [rospack.get_path('talos_data')+"/../"]
std::string urdfPath = "/opt/openrobots/share/talos_data/urdf/talos_reduced.urdf";
std::string urdfPath = TALOS_DATA_MODEL_DIR "urdf/talos_reduced.urdf";
pinocchio::Model model;
pinocchio::urdf::buildModel(urdfPath, pinocchio::JointModelFreeFlyer(), model);
......@@ -317,4 +314,3 @@ BOOST_AUTO_TEST_CASE ( test_distribute )
}
BOOST_AUTO_TEST_SUITE_END ()
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