gc更改前的推送

src/origincar_base/CMakeLists.txt

@@ -46,6 +46,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Position.msg"
  )
 if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
   # uncomment the line when a copyright and license is not present in all source files
@@ -112,6 +113,15 @@ if(BUILD_TESTING)
   add_executable(scan_odom_timing_logger_test test/scan_odom_timing_logger_test.cpp)
   target_link_libraries(scan_odom_timing_logger_test origincar_base_log)
   add_test(NAME scan_odom_timing_logger_test COMMAND scan_odom_timing_logger_test)
+
+  ament_add_gtest(command_gate_test test/command_gate_test.cpp)
+  target_include_directories(command_gate_test PRIVATE include)
+
+  ament_add_gtest(command_frame_test test/command_frame_test.cpp)
+  target_include_directories(command_frame_test PRIVATE include)
+
+  ament_add_gtest(serial_frame_parser_test test/serial_frame_parser_test.cpp)
+  target_include_directories(serial_frame_parser_test PRIVATE include)
 endif()
 
 #add_executable(testNode src/test.cpp src/Quaternion_Solution.cpp)