[Tests] use example-robot-data

tests/CMakeLists.txt

 # Make Boost.Test generates the main function in test cases.
 ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
-SET(urdfpath ${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/urdf/simple_humanoid.urdf)
-
 # Add unit tests for validation
 MACRO(SOT_TOR_CTR_TEST NAME)
   ADD_UNIT_TEST(test-${NAME} test-${NAME}.cpp)
 
   TARGET_LINK_LIBRARIES(test-${NAME} PRIVATE ${PROJECT_NAME} Boost::unit_test_framework ${NAME}
-    dynamic-graph::dynamic-graph pinocchio::pinocchio)
-  TARGET_COMPILE_DEFINITIONS(test-${NAME} PUBLIC URDF_FULL_PATH="${urdfpath}")
+    dynamic-graph::dynamic-graph pinocchio::pinocchio example-robot-data::example-robot-data)
 ENDMACRO(SOT_TOR_CTR_TEST)
 
 SOT_TOR_CTR_TEST(control-manager)

tests/test-control-manager.cpp

@@ -7,6 +7,8 @@
 #include <sstream>
 #include <iostream>
 
+#include <example-robot-data/path.hpp>
+
 #include <dynamic-graph/factory.h>
 
 // Needed for sendMsg.
@@ -35,7 +37,7 @@ BOOST_AUTO_TEST_CASE(testControlManager) {
   a_control_manager.setLoggerVerbosityLevel(dynamicgraph::VERBOSITY_ALL);
 
   std::string robotRef("simple_humanoid_description");
-  a_control_manager.init(0.001, URDF_FULL_PATH, robotRef);
+  a_control_manager.init(0.001, EXAMPLE_ROBOT_DATA_MODEL_DIR "/simple_humanoid_description/urdf/simple_humanoid.urdf", robotRef);
 
   dynamicgraph::Vector av;
   a_control_manager.m_uSOUT.needUpdate(6);