From 130f537f17c66064bd5ad351bf2983914ddebcf9 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <emerson.b.knapp@gmail.com>
Date: Wed, 12 Aug 2026 00:11:02 -0700
Subject: [PATCH 1/2] fix: catch tests on jazzy+

---
 CMakeLists.txt            | 26 +++++++++++---------------
 test/test_radar_layer.cpp | 13 ++++++++++---
 2 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8641a5d..c9eb940 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,15 +30,6 @@ find_package(message_filters REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(nav2_dynamic_msgs REQUIRED)
 
-set(dep_pkgs
-    rclcpp
-    nav2_costmap_2d
-    pluginlib
-    radar_msgs
-    message_filters
-    tf2_ros
-    nav2_dynamic_msgs)
-
 # === Build ===
 
 include_directories(include)
@@ -46,7 +37,14 @@ include_directories(include)
 add_library(${lib_name} SHARED
             src/radar_layer.cpp)
 
-ament_target_dependencies(${lib_name} ${dep_pkgs})
+ament_target_dependencies(${lib_name}
+    rclcpp
+    nav2_costmap_2d
+    pluginlib
+    radar_msgs
+    message_filters
+    tf2_ros
+    nav2_dynamic_msgs)
 
 # === Installation ===
 
@@ -65,15 +63,14 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   # Unit Test
-  find_package(Catch2 2 REQUIRED)
+  find_package(Catch2 REQUIRED)
   set(test_dependencies
     Catch2
   )
   add_executable(catch_tests test/test_radar_layer.cpp)
-  target_link_libraries(catch_tests Catch2::Catch2 ${lib_name})
+  target_link_libraries(catch_tests Catch2::Catch2WithMain ${lib_name})
   ament_target_dependencies(catch_tests
-    ${test_dependencies}
-    ${dep_pkgs}
+    ${lib_name}
   )
   add_test(NAME catch_tests COMMAND catch_tests)
 endif()
@@ -83,5 +80,4 @@ endif()
 # This allows the plugin to be discovered as a plugin of required type.
 
 pluginlib_export_plugin_description_file(nav2_costmap_2d radar_layer.xml)
-ament_target_dependencies(${lib_name} ${dep_pkgs})
 ament_package()
diff --git a/test/test_radar_layer.cpp b/test/test_radar_layer.cpp
index 83c10e1..1667932 100644
--- a/test/test_radar_layer.cpp
+++ b/test/test_radar_layer.cpp
@@ -1,8 +1,15 @@
-#define CATCH_CONFIG_MAIN // This tells Catch to provide a main() - only do
-                          // this in one cpp file
+#define CATCH_CONFIG_MAIN
 #include <math.h>
 
-#include <catch2/catch.hpp>
+#if __has_include(<catch2/catch_all.hpp>)
+  #include <catch2/catch_all.hpp>
+  #include <catch2/catch_approx.hpp>
+using Catch::Approx;
+#elif __has_include(<catch2/catch.hpp>)
+  #include <catch2/catch.hpp>
+#else
+  #error "Catch2 headers not found. Please install Catch2 (v2 or v3)."
+#endif
 #include <iostream>
 #include <limits>
 #include <memory>

From ebe9ce5476847a2e50adb5de9e9df218f3635705 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <emerson@polymathrobotics.com>
Date: Wed, 12 Aug 2026 10:19:36 -0700
Subject: [PATCH 2/2] not ament dep

---
 CMakeLists.txt | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c9eb940..180dc7c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,9 +69,6 @@ if(BUILD_TESTING)
   )
   add_executable(catch_tests test/test_radar_layer.cpp)
   target_link_libraries(catch_tests Catch2::Catch2WithMain ${lib_name})
-  ament_target_dependencies(catch_tests
-    ${lib_name}
-  )
   add_test(NAME catch_tests COMMAND catch_tests)
 endif()