Merge pull request #239 from bulwahn/make-rostest-optional

making rostest optional in most packages

recipes-ros/actionlib/actionlib/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,32 @@
+From ee8607f48165af73c23b1210179a88ff1d08e5bf Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:00:25 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ CMakeLists.txt | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9a3652f..16adefe 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,7 +1,7 @@
+ cmake_minimum_required(VERSION 2.8.3)
+ project(actionlib)
+ 
+-find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rostest rosunit std_msgs)
++find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rosunit std_msgs)
+ find_package(Boost REQUIRED COMPONENTS thread)
+ 
+ include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+@@ -34,5 +34,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
+   FILES_MATCHING PATTERN "*.h")
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   add_subdirectory(test)
+ endif()
+-- 
+1.8.3.2
+

recipes-ros/actionlib/actionlib/0001-rostest-is-optional.patch

@@ -1,29 +0,0 @@
-From 9a6b0ed481e8585d5a042f69c8cdaf39b783fc9a Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Sat, 21 Sep 2013 15:41:34 +0200
-Subject: [PATCH] rostest is optional
-
----
- CMakeLists.txt |    6 +++++-
- 1 file changed, 5 insertions(+), 1 deletion(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9a3652f..ab0226c 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -1,7 +1,11 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(actionlib)
- 
--find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rostest rosunit std_msgs)
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rostest rosunit std_msgs)
-+else()
-+  find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp std_msgs)
-+endif()
- find_package(Boost REQUIRED COMPONENTS thread)
- 
- include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
--- 
-1.7.10.4
-

recipes-ros/actionlib/actionlib_1.10.3.bb

@@ -10,6 +10,6 @@ SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilena
 SRC_URI[md5sum] = "2e13067c3c85e81a3ab4b603ff15e45b"
 SRC_URI[sha256sum] = "f71df286552e6bf3a03ef83635342d3bdd6eef836e7b0565dccd2d341dbeaa11"
 
-SRC_URI += "file://0001-rostest-is-optional.patch"
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch"
 
 inherit catkin

recipes-ros/chatter/chatter-sender/0001-rostest-is-optional.patch

@@ -1,29 +0,0 @@
-From 9c9051d1c00164cf2b63e23ad10f24ddce2b0413 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Sat, 21 Sep 2013 15:53:17 +0200
-Subject: [PATCH] rostest is optional
-
----
- chatter_sender/CMakeLists.txt |    6 +++++-
- 1 file changed, 5 insertions(+), 1 deletion(-)
-
-diff --git a/chatter_sender/CMakeLists.txt b/chatter_sender/CMakeLists.txt
-index f2bc563..243bc53 100644
---- a/chatter_sender/CMakeLists.txt
-+++ b/chatter_sender/CMakeLists.txt
-@@ -1,7 +1,11 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(chatter_sender)
- 
--find_package(catkin REQUIRED COMPONENTS chatter_msgs roscpp rostest)
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED COMPONENTS chatter_msgs roscpp rostest)
-+else()
-+  find_package(catkin REQUIRED COMPONENTS chatter_msgs roscpp)
-+endif()
- 
- catkin_package()
- 
--- 
-1.7.10.4
-

recipes-ros/chatter/chatter-sender_0.1.1.bb

@@ -6,5 +6,3 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 DEPENDS = "chatter-msgs roscpp"
 
 require chatter.inc
-
-SRC_URI += "file://0001-rostest-is-optional.patch;striplevel=2"

recipes-ros/chatter/chatter.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/bmwcarit/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "c26fdc13d96d1b65d0c1e03b41572550"
+SRC_URI[md5sum] = "3048507b90d31babed579677c73aa219"
-SRC_URI[sha256sum] = "b18f8a08fe8bdc4d7a89ee9ab15892348c25d508dad1bed87e795805506f315f"
+SRC_URI[sha256sum] = "ff7f5a705049bd6e312afcbbf919cc5a382160ff6eca8571a7dec4f4e0bc8f15"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/depthimage-to-laserscan/depthimage-to-laserscan/0001-check-for-CATKIN_ENABLE_TESTING.patch

@@ -1,5 +1,15 @@
+From f953151cce932ffa8e0d14fc12b512d8e7d448fe Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Wed, 22 Jan 2014 11:18:25 +0100
+Subject: [PATCH] check for CATKIN_ENABLE_TESTING
+
+---
+ CMakeLists.txt | 8 +++++---
+ package.xml    | 2 +-
+ 2 files changed, 6 insertions(+), 4 deletions(-)
+
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 7e73a89..60c4bff 100644
+index cdf4a9f..a76b054 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -30,9 +30,11 @@ target_link_libraries(DepthImageToLaserScanNodelet DepthImageToLaserScanROS ${ca
@@ -17,3 +27,19 @@ index 7e73a89..60c4bff 100644
  
  # add the test executable, keep it from being built by "make all"
  add_executable(test_dtl EXCLUDE_FROM_ALL test/depthimage_to_laserscan_rostest.cpp)
+diff --git a/package.xml b/package.xml
+index 86f182a..d5ecc06 100644
+--- a/package.xml
++++ b/package.xml
+@@ -12,7 +12,7 @@
+ 
+   <author>Chad Rockey</author>
+ 
+-  <buildtool_depend>catkin</buildtool_depend>
++  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+ 
+   <build_depend>roscpp</build_depend>
+   <build_depend>gtest</build_depend>
+-- 
+1.8.5.1
+

recipes-ros/filters/filters/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,33 @@
+From 5aef0d6619394df17bffe743071295ad041b5794 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:02:09 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ CMakeLists.txt | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ccb54f9..97eea51 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,7 +5,7 @@ project(filters)
+ # Find dependencies
+ ##############################################################################
+ 
+-find_package(catkin REQUIRED COMPONENTS pluginlib roslib roscpp rosconsole rostest)
++find_package(catkin REQUIRED COMPONENTS pluginlib roslib roscpp rosconsole)
+ find_package(Boost COMPONENTS system filesystem thread REQUIRED)
+ 
+ include_directories(
+@@ -41,6 +41,7 @@ add_library(transfer_function src/transfer_function.cpp)
+ target_link_libraries(transfer_function ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   # Test median filter
+   add_executable(median_test EXCLUDE_FROM_ALL test/test_median.cpp )
+   target_link_libraries(median_test median ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES}) 
+-- 
+1.8.3.2
+

recipes-ros/filters/filters_1.7.4.bb

@@ -3,12 +3,13 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "roslib rosconsole roscpp pluginlib rostest"
+DEPENDS = "roslib rosconsole roscpp pluginlib"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0dd26504be16afa7816e9a5aa11715f1"
 SRC_URI[sha256sum] = "fb71f1fbeaf89726877fce66dce1db8957c5cc6dffa1973d6a104a10233f8237"
 
-SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch"
+SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch; \
+  file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch"
 
 inherit catkin

recipes-ros/geometry/tf/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,34 @@
+From 18e81e33c052e26ae60259708095a2a933f75fd1 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:02:48 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ tf/CMakeLists.txt | 4 +++-
+ 1 file changed, 3 insertions(+), 1 deletion(-)
+
+diff --git a/tf/CMakeLists.txt b/tf/CMakeLists.txt
+index fa4a42f..c6988e1 100644
+--- a/tf/CMakeLists.txt
++++ b/tf/CMakeLists.txt
+@@ -4,7 +4,7 @@ project(tf)
+ find_package(catkin REQUIRED)
+ 
+ find_package(Boost REQUIRED thread signals)
+-find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostest rostime sensor_msgs std_msgs tf2_ros)
++find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostime sensor_msgs std_msgs tf2_ros)
+ 
+ catkin_python_setup()
+ 
+@@ -48,6 +48,8 @@ target_link_libraries(static_transform_publisher ${PROJECT_NAME})
+ # Tests
+ if(CATKIN_ENABLE_TESTING)
+ 
++find_package(rostest)
++
+ catkin_add_gtest(tf_unittest test/tf_unittest.cpp)
+ target_link_libraries(tf_unittest ${PROJECT_NAME})
+ 
+-- 
+1.8.3.2
+

recipes-ros/geometry/tf/0001-rostest-is-optional.patch

@@ -1,30 +0,0 @@
-From 9f1e801c6de00287658f1bae21048f37bb9bb198 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Sat, 21 Sep 2013 16:13:16 +0200
-Subject: [PATCH] rostest is optional
-
----
- tf/CMakeLists.txt |    7 ++++++-
- 1 file changed, 6 insertions(+), 1 deletion(-)
-
-diff --git a/tf/CMakeLists.txt b/tf/CMakeLists.txt
-index e8d3044..2d36df3 100644
---- a/tf/CMakeLists.txt
-+++ b/tf/CMakeLists.txt
-@@ -4,7 +4,12 @@ project(tf)
- find_package(catkin REQUIRED)
- 
- find_package(Boost REQUIRED thread signals)
--find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostest rostime sensor_msgs std_msgs tf2_ros)
-+
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostest rostime sensor_msgs std_msgs tf2_ros)
-+else()
-+  find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostime sensor_msgs std_msgs tf2_ros)
-+endif()
- 
- catkin_python_setup()
- 
--- 
-1.7.10.4
-

recipes-ros/geometry/tf_1.10.8.bb

@@ -7,6 +7,6 @@ DEPENDS = "angles geometry-msgs message-filters sensor-msgs tf2-ros"
 
 require geometry.inc
 
-SRC_URI += "file://0001-rostest-is-optional.patch;striplevel=2"
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;striplevel=2"
 
 RDEPENDS_${PN} = "python-numpy"

recipes-ros/image-common/camera-info-manager/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,33 @@
+From 29f5630047052c24f1b506bdb743ebd53358686d Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:04:23 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ camera_info_manager/CMakeLists.txt | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/camera_info_manager/CMakeLists.txt b/camera_info_manager/CMakeLists.txt
+index f220861..8b83216 100644
+--- a/camera_info_manager/CMakeLists.txt
++++ b/camera_info_manager/CMakeLists.txt
+@@ -10,7 +10,7 @@ catkin_package(INCLUDE_DIRS include
+                DEPENDS Boost roscpp sensor_msgs
+ )
+ 
+-find_package(catkin COMPONENTS camera_calibration_parsers image_transport roscpp roslib rostest)
++find_package(catkin COMPONENTS camera_calibration_parsers image_transport roscpp roslib)
+ 
+ include_directories(SYSTEM ${camera_calibration_parsers_INCLUDE_DIRS}
+                            ${image_transport_INCLUDE_DIRS}
+@@ -34,6 +34,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
+ )
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   # Unit test uses gtest, but needs rostest to create a ROS environment.
+   # Hence, it must be created as a normal executable, not using
+   # catkin_add_gtest() which runs an additional test without rostest.
+-- 
+1.8.3.2
+

recipes-ros/image-common/camera-info-manager_1.11.1.bb

@@ -3,6 +3,8 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost camera-calibration-parsers image-transport roscpp roslib rostest sensor-msgs"
+DEPENDS = "boost camera-calibration-parsers image-transport roscpp roslib sensor-msgs"
 
 require image-common.inc
+
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;striplevel=2"

recipes-ros/navigation/amcl_1.11.6.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "LGPL"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=20;endline=20;md5=58d727014cda5ed405b7fb52666a1f97"
 
-DEPENDS = "dynamic-reconfigure message-filters nav-msgs roscpp rostest std-srvs tf"
+DEPENDS = "dynamic-reconfigure message-filters nav-msgs roscpp std-srvs tf"
 
 require navigation.inc

recipes-ros/navigation/costmap-2d_1.11.6.bb

@@ -7,7 +7,7 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=18;endline=18;md5=01c2bc31767ccb3a68e12f02612b2a97"
 
 DEPENDS = "dynamic-reconfigure geometry-msgs laser-geometry map-msgs message-filters \
-  message-generation nav-msgs pcl-conversions pcl-ros pluginlib roscpp rostest \
+  message-generation nav-msgs pcl-conversions pcl-ros pluginlib roscpp \
   sensor-msgs std-msgs tf visualization-msgs voxel-grid"
 
 require navigation.inc

recipes-ros/navigation/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,54 @@
+From 9fdd83868742a5f00406632d7c7084a4fc272c35 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:05:31 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ map_server/CMakeLists.txt     | 2 +-
+ robot_pose_ekf/CMakeLists.txt | 3 ++-
+ 2 files changed, 3 insertions(+), 2 deletions(-)
+
+diff --git a/map_server/CMakeLists.txt b/map_server/CMakeLists.txt
+index 40be4cc..c2bff5f 100644
+--- a/map_server/CMakeLists.txt
++++ b/map_server/CMakeLists.txt
+@@ -6,7 +6,6 @@ find_package(catkin REQUIRED
+             roscpp
+             tf
+             nav_msgs
+-            rostest
+         )
+ 
+ find_package(Boost REQUIRED COMPONENTS system)
+@@ -55,6 +54,7 @@ endfunction()
+ 
+ ## Tests
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   copy_test_data( FILES
+       test/testmap.bmp
+       test/testmap.png )
+diff --git a/robot_pose_ekf/CMakeLists.txt b/robot_pose_ekf/CMakeLists.txt
+index c6d6ff0..bd51164 100644
+--- a/robot_pose_ekf/CMakeLists.txt
++++ b/robot_pose_ekf/CMakeLists.txt
+@@ -23,7 +23,6 @@ link_directories(${BFL_LIBRARY_DIRS})
+ find_package(catkin REQUIRED
+         COMPONENTS
+             roscpp
+-            rostest
+             tf
+             nav_msgs
+             std_msgs
+@@ -79,6 +78,8 @@ include(CMakeDetermineSystem)
+ if(CMAKE_SYSTEM_NAME MATCHES "Linux")
+ if(CATKIN_ENABLE_TESTING)
+ 
++find_package(rostest)
++
+ catkin_download_test_data(download_data_ekf_test2_indexed.bag http://download.ros.org/data/robot_pose_ekf/ekf_test2_indexed.bag FILENAME test/ekf_test2.bag MD5 71addef0ed900e05b301e0b4fdca99e2)
+ add_executable(test_robot_pose_ekf test/test_robot_pose_ekf.cpp)
+ target_link_libraries(test_robot_pose_ekf
+-- 
+1.8.3.2
+

recipes-ros/navigation/map-server_1.11.6.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=01c2bc31767ccb3a68e12f02612b2a97"
 
-DEPENDS = "libsdl-image nav-msgs roscpp rostest tf yaml-cpp"
+DEPENDS = "libsdl-image nav-msgs roscpp tf yaml-cpp"
 
 require navigation.inc

recipes-ros/navigation/navigation.inc

@@ -2,6 +2,8 @@ SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downl
 SRC_URI[md5sum] = "f6dd416880d0e92985be5268699d9cb8"
 SRC_URI[sha256sum] = "52d88c64047539f3d7552cee48def65f082e39d37221659b2533aecef429bb42"
 
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;patchdir=.."
+
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin

recipes-ros/ros-comm/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,88 @@
+From 560ce8a8855a43565d1798af19cc943c61a72e7f Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 12:57:23 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ tools/rosnode/CMakeLists.txt     | 3 ++-
+ tools/rostopic/CMakeLists.txt    | 3 ++-
+ tools/topic_tools/CMakeLists.txt | 3 ++-
+ utilities/roswtf/CMakeLists.txt  | 3 ++-
+ 4 files changed, 8 insertions(+), 4 deletions(-)
+
+diff --git a/tools/rosnode/CMakeLists.txt b/tools/rosnode/CMakeLists.txt
+index a7347b4..f305890 100644
+--- a/tools/rosnode/CMakeLists.txt
++++ b/tools/rosnode/CMakeLists.txt
+@@ -1,10 +1,11 @@
+ cmake_minimum_required(VERSION 2.8.3)
+ project(rosnode)
+-find_package(catkin REQUIRED COMPONENTS rostest)
++find_package(catkin REQUIRED)
+ catkin_package()
+ 
+ catkin_python_setup()
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   add_rostest(test/rosnode.test)
+ endif()
+diff --git a/tools/rostopic/CMakeLists.txt b/tools/rostopic/CMakeLists.txt
+index 0551583..db7917b 100644
+--- a/tools/rostopic/CMakeLists.txt
++++ b/tools/rostopic/CMakeLists.txt
+@@ -1,6 +1,6 @@
+ cmake_minimum_required(VERSION 2.8.3)
+ project(rostopic)
+-find_package(catkin REQUIRED COMPONENTS rostest)
++find_package(catkin REQUIRED)
+ catkin_package()
+ 
+ catkin_python_setup()
+@@ -9,5 +9,6 @@ install(PROGRAMS scripts/rostopic
+   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   add_rostest(test/rostopic.test)
+ endif()
+diff --git a/tools/topic_tools/CMakeLists.txt b/tools/topic_tools/CMakeLists.txt
+index e441b9a..2d52451 100644
+--- a/tools/topic_tools/CMakeLists.txt
++++ b/tools/topic_tools/CMakeLists.txt
+@@ -1,6 +1,6 @@
+ cmake_minimum_required(VERSION 2.8.3)
+ project(topic_tools)
+-find_package(catkin COMPONENTS cpp_common message_generation rosconsole roscpp rostest rostime rosunit std_msgs xmlrpcpp)
++find_package(catkin COMPONENTS cpp_common message_generation rosconsole roscpp rostime std_msgs xmlrpcpp)
+ 
+ include_directories(include)
+ include_directories(${catkin_INCLUDE_DIRS})
+@@ -62,6 +62,7 @@ install(PROGRAMS
+ 
+ #Testing
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest rosunit)
+   catkin_add_gtest(${PROJECT_NAME}-utest test/utest.cpp)
+   if(TARGET ${PROJECT_NAME}-utest)
+     target_link_libraries(${PROJECT_NAME}-utest topic_tools)
+diff --git a/utilities/roswtf/CMakeLists.txt b/utilities/roswtf/CMakeLists.txt
+index dccb342..97a34ff 100644
+--- a/utilities/roswtf/CMakeLists.txt
++++ b/utilities/roswtf/CMakeLists.txt
+@@ -1,10 +1,11 @@
+ cmake_minimum_required(VERSION 2.8.3)
+ project(roswtf)
+-find_package(catkin REQUIRED COMPONENTS rostest)
++find_package(catkin REQUIRED)
+ catkin_package()
+ catkin_python_setup()
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   add_rostest(test/roswtf.test)
+   catkin_add_nosetests(test)
+ endif()
+-- 
+1.8.3.2
+

recipes-ros/ros-comm/files/0001-rostest-is-optional.patch

@@ -1,62 +0,0 @@
-From 0f16232f1bac7d03cce598bd305bcdd4c456f4ed Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Sat, 21 Sep 2013 15:20:11 +0200
-Subject: [PATCH] rostest is optional
-
----
- tools/rosnode/CMakeLists.txt    |    6 +++++-
- tools/rostopic/CMakeLists.txt   |    6 +++++-
- utilities/roswtf/CMakeLists.txt |    6 +++++-
- 3 files changed, 15 insertions(+), 3 deletions(-)
-
-diff --git a/tools/rosnode/CMakeLists.txt b/tools/rosnode/CMakeLists.txt
-index a7347b4..b397106 100644
---- a/tools/rosnode/CMakeLists.txt
-+++ b/tools/rosnode/CMakeLists.txt
-@@ -1,6 +1,10 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(rosnode)
--find_package(catkin REQUIRED COMPONENTS rostest)
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED COMPONENTS rostest)
-+else()
-+  find_package(catkin REQUIRED)
-+endif()
- catkin_package()
- 
- catkin_python_setup()
-diff --git a/tools/rostopic/CMakeLists.txt b/tools/rostopic/CMakeLists.txt
-index 0551583..24fbed0 100644
---- a/tools/rostopic/CMakeLists.txt
-+++ b/tools/rostopic/CMakeLists.txt
-@@ -1,6 +1,10 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(rostopic)
--find_package(catkin REQUIRED COMPONENTS rostest)
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED COMPONENTS rostest)
-+else()
-+  find_package(catkin REQUIRED) 
-+endif()
- catkin_package()
- 
- catkin_python_setup()
-diff --git a/utilities/roswtf/CMakeLists.txt b/utilities/roswtf/CMakeLists.txt
-index dccb342..cfd0c11 100644
---- a/utilities/roswtf/CMakeLists.txt
-+++ b/utilities/roswtf/CMakeLists.txt
-@@ -1,6 +1,10 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(roswtf)
--find_package(catkin REQUIRED COMPONENTS rostest)
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED COMPONENTS rostest)
-+else()
-+  find_package(catkin REQUIRED)
-+endif()
- catkin_package()
- catkin_python_setup()
- 
--- 
-1.7.10.4
-

recipes-ros/ros-comm/ros-comm.inc

@@ -2,7 +2,7 @@ SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilena
 SRC_URI[md5sum] = "f561ebda19fa6e737d5f06e49e925be4"
 SRC_URI[sha256sum] = "3572418e3149b54493770695e5241584f5daf9e849ab70007b16d4ce848d7e12"
 
-SRC_URI += "file://0001-rostest-is-optional.patch;patchdir=../.."
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;patchdir=../.."
 
 ROS_PKG_SUBDIR ?= ""
 S = "${WORKDIR}/${ROS_SP}/${ROS_PKG_SUBDIR}/${ROS_BPN}"

recipes-ros/ros-control/controller-manager-tests_0.6.0.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "rostest control-toolbox controller-interface controller-manager"
+DEPENDS = "control-toolbox controller-interface controller-manager"
 
 require ros-control.inc

recipes-ros/ros-control/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,56 @@
+From b746072f9729b9d39a5e1901c0ffa7dcb5f19956 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:06:33 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ controller_manager_tests/CMakeLists.txt | 3 ++-
+ joint_limits_interface/CMakeLists.txt   | 4 +++-
+ 2 files changed, 5 insertions(+), 2 deletions(-)
+
+diff --git a/controller_manager_tests/CMakeLists.txt b/controller_manager_tests/CMakeLists.txt
+index 95c73cc..9e018b1 100644
+--- a/controller_manager_tests/CMakeLists.txt
++++ b/controller_manager_tests/CMakeLists.txt
+@@ -29,7 +29,7 @@ if(USE_ROSBUILD)
+ else()
+ 
+   # Load catkin and all dependencies required for this package
+-  find_package(catkin REQUIRED COMPONENTS rostest controller_manager controller_interface control_toolbox)
++  find_package(catkin REQUIRED COMPONENTS controller_manager controller_interface control_toolbox)
+ 
+   include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
+ 
+@@ -53,6 +53,7 @@ else()
+   target_link_libraries(dummy_app ${PROJECT_NAME} ${catkin_LIBRARIES})
+ 
+   if(CATKIN_ENABLE_TESTING)
++    find_package(rostest)
+     add_executable(cm_test test/cm_test.cpp)
+     add_dependencies(tests cm_test)
+     target_link_libraries(cm_test ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
+diff --git a/joint_limits_interface/CMakeLists.txt b/joint_limits_interface/CMakeLists.txt
+index 16644a2..7053abc 100644
+--- a/joint_limits_interface/CMakeLists.txt
++++ b/joint_limits_interface/CMakeLists.txt
+@@ -23,7 +23,7 @@ if(USE_ROSBUILD)
+ 
+ else() # catkin
+ 
+-  find_package(catkin REQUIRED COMPONENTS roscpp rostest)
++  find_package(catkin REQUIRED COMPONENTS roscpp)
+ 
+   include_directories(
+     SYSTEM 
+@@ -44,6 +44,8 @@ else() # catkin
+   )
+ 
+   if(CATKIN_ENABLE_TESTING)
++    find_package(rostest)
++
+     catkin_add_gtest(joint_limits_interface_test test/joint_limits_interface_test.cpp)
+     target_link_libraries(joint_limits_interface_test ${catkin_LIBRARIES})
+ 
+-- 
+1.8.3.2
+

recipes-ros/ros-control/joint-limits-interface_0.6.0.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "rostest roscpp hardware-interface urdfdom"
+DEPENDS = "roscpp hardware-interface urdfdom"
 
 require ros-control.inc

recipes-ros/ros-control/ros-control.inc

@@ -2,6 +2,8 @@ SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downl
 SRC_URI[md5sum] = "f3fa5aabaa68f4f23bb277f47746cfc4"
 SRC_URI[sha256sum] = "598d6c28148764f328b87ef0c2533e49f9b4925a1457688f2715ce332fc82dfd"
 
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;patchdir=.."
+
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin

recipes-ros/ros-tutorials/rospy-tutorials/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -0,0 +1,33 @@
+From 8e1fdde288fe2f1edb20e504846dabac026ca2ff Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:07:10 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ rospy_tutorials/CMakeLists.txt | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/rospy_tutorials/CMakeLists.txt b/rospy_tutorials/CMakeLists.txt
+index b588dfc..5287af3 100644
+--- a/rospy_tutorials/CMakeLists.txt
++++ b/rospy_tutorials/CMakeLists.txt
+@@ -1,7 +1,7 @@
+ cmake_minimum_required(VERSION 2.8.3)
+ project(rospy_tutorials)
+ 
+-find_package(catkin REQUIRED COMPONENTS message_generation rostest std_msgs)
++find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
+ 
+ add_message_files(DIRECTORY msg FILES Floats.msg HeaderString.msg)
+ add_service_files(DIRECTORY srv FILES AddTwoInts.srv BadTwoInts.srv)
+@@ -27,6 +27,7 @@ foreach(T
+ endforeach()
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   foreach(T
+       test/test-add-two-ints.launch
+       test/test-peer-subscribe-notify.launch
+-- 
+1.8.3.2
+

recipes-ros/ros-tutorials/rospy-tutorials/0001-rostest-is-optional.patch

@@ -1,29 +0,0 @@
-From 3eaf40260ea400cb779ca229cbf3ab27f5a2b6eb Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Sat, 21 Sep 2013 16:33:11 +0200
-Subject: [PATCH] rostest is optional
-
----
- rospy_tutorials/CMakeLists.txt |    6 +++++-
- 1 file changed, 5 insertions(+), 1 deletion(-)
-
-diff --git a/rospy_tutorials/CMakeLists.txt b/rospy_tutorials/CMakeLists.txt
-index b588dfc..a48ec0d 100644
---- a/rospy_tutorials/CMakeLists.txt
-+++ b/rospy_tutorials/CMakeLists.txt
-@@ -1,7 +1,11 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(rospy_tutorials)
- 
--find_package(catkin REQUIRED COMPONENTS message_generation rostest std_msgs)
-+if(CATKIN_ENABLE_TESTING)
-+  find_package(catkin REQUIRED COMPONENTS message_generation rostest std_msgs)
-+else()
-+  find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
-+endif()
- 
- add_message_files(DIRECTORY msg FILES Floats.msg HeaderString.msg)
- add_service_files(DIRECTORY srv FILES AddTwoInts.srv BadTwoInts.srv)
--- 
-1.7.10.4
-

recipes-ros/ros-tutorials/rospy-tutorials_0.4.3.bb

@@ -7,4 +7,4 @@ DEPENDS = "message-generation std-msgs cpp-common roscpp-serialization"
 
 require ros-tutorials.inc
 
-SRC_URI += "file://0001-rostest-is-optional.patch;striplevel=2"
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;striplevel=2"