Move shared data to trajopt_common

tesseract-robotics · Jun 30, 2023 · 1862eeb · 1862eeb
1 parent 4ac450c
commit 1862eeb
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Showing 491 changed files with 300 additions and 500 deletions.
diff --git a/trajopt/CMakeLists.txt b/trajopt/CMakeLists.txt
@@ -69,19 +69,7 @@ target_cxx_version(${PROJECT_NAME} PUBLIC VERSION ${TRAJOPT_CXX_VERSION})
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
 
-# Install test data directory for use in other packages
-add_library(${PROJECT_NAME}_test_data INTERFACE)
-target_link_libraries(${PROJECT_NAME}_test_data INTERFACE)
-target_compile_definitions(
-  ${PROJECT_NAME}_test_data INTERFACE ${TRAJOPT_COMPILE_DEFINITIONS}
-                                      TRAJOPT_DIR="${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}")
-target_cxx_version(${PROJECT_NAME}_test_data INTERFACE VERSION ${TRAJOPT_CXX_VERSION})
-
-configure_package(NAMESPACE trajopt TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_test_data)
-
-foreach(dir test/data)
-  install(DIRECTORY ${dir}/ DESTINATION share/${PROJECT_NAME}/${dir})
-endforeach()
+configure_package(NAMESPACE trajopt TARGETS ${PROJECT_NAME})
 
 # Mark cpp header files for installation
 install(

diff --git a/trajopt/test/CMakeLists.txt b/trajopt/test/CMakeLists.txt
@@ -41,7 +41,7 @@ include(GoogleTest)
 macro(add_gtest test_name test_file)
   add_executable(${test_name} ${test_file})
   target_compile_options(${test_name} PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} ${TRAJOPT_COMPILE_OPTIONS_PUBLIC})
-  target_compile_definitions(${test_name} PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS} TRAJOPT_DIR="${CMAKE_SOURCE_DIR}")
+  target_compile_definitions(${test_name} PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS})
   target_cxx_version(${test_name} PRIVATE VERSION ${TRAJOPT_CXX_VERSION})
   target_clang_tidy(${test_name} ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY})
   target_link_libraries(

diff --git a/trajopt/test/benchmarks/CMakeLists.txt b/trajopt/test/benchmarks/CMakeLists.txt
@@ -4,7 +4,7 @@ find_package(osqp REQUIRED)
 macro(add_benchmark benchmark_name benchmark_file)
   add_executable(${benchmark_name} ${benchmark_file})
   target_compile_options(${benchmark_name} PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} ${TRAJOPT_COMPILE_OPTIONS_PUBLIC})
-  target_compile_definitions(${benchmark_name} PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS} TRAJOPT_DIR="${CMAKE_SOURCE_DIR}")
+  target_compile_definitions(${benchmark_name} PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS})
   target_cxx_version(${benchmark_name} PRIVATE VERSION ${TRAJOPT_CXX_VERSION})
   target_clang_tidy(${benchmark_name} ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY})
   target_link_libraries(

diff --git a/trajopt/test/benchmarks/solve_benchmarks.cpp b/trajopt/test/benchmarks/solve_benchmarks.cpp
@@ -19,8 +19,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <trajopt_common/logging.hpp>
 #include <trajopt_common/stl_to_string.hpp>
 
-#include "../trajopt_test_utils.hpp"
-
 using namespace trajopt;
 using namespace std;
 using namespace trajopt_common;
@@ -98,11 +96,11 @@ int main(int argc, char** argv)
   // Simple Collision Solve
   //////////////////////////////////////
   {
-    Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/simple_collision_test.json");
-    boost::filesystem::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/spherebot.urdf");
-    boost::filesystem::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/spherebot.srdf");
+    Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/simple_collision_test.json");
+    boost::filesystem::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/spherebot.urdf");
+    boost::filesystem::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/spherebot.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     auto env = std::make_shared<Environment>();
     env->init(urdf_file, srdf_file, locator);
 
@@ -134,11 +132,11 @@ int main(int argc, char** argv)
   // Planning Solve
   //////////////////////////////////////
   {
-    Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/arm_around_table.json");
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/arm_around_table.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/pr2.srdf");
+    Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/arm_around_table.json");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/arm_around_table.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/pr2.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     auto env = std::make_shared<Environment>();
     env->init(urdf_file, srdf_file, locator);
 

diff --git a/trajopt/test/cart_position_optimization_unit.cpp b/trajopt/test/cart_position_optimization_unit.cpp
@@ -41,7 +41,6 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/problem_description.hpp>
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/logging.hpp>
-#include "trajopt_test_utils.hpp"
 
 using namespace trajopt;
 using namespace tesseract_environment;
@@ -66,9 +65,9 @@ TEST(CartPositionOptimizationTrajoptSCO, cart_position_optimization_trajopt_sco)
   }
 
   // 1)  Load Robot
-  tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/arm_around_table.urdf");
-  tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/pr2.srdf");
-  ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+  tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/arm_around_table.urdf");
+  tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/pr2.srdf");
+  ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
   auto env = std::make_shared<Environment>();
   env->init(urdf_file, srdf_file, locator);
 

diff --git a/trajopt/test/cast_cost_attached_unit.cpp b/trajopt/test/cast_cost_attached_unit.cpp
@@ -15,11 +15,11 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include "trajopt_test_utils.hpp"
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
 #include <trajopt_common/logging.hpp>
 #include <trajopt_common/stl_to_string.hpp>
+#include "trajopt_test_utils.hpp"
 
 using namespace trajopt;
 using namespace std;
@@ -42,10 +42,10 @@ class CastAttachedTest : public testing::TestWithParam<const char*>
 
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;
@@ -105,7 +105,7 @@ void runLinkWithGeomTest(const Environment::Ptr& env, const Visualization::Ptr&
 
   env->applyCommand(std::make_shared<ChangeLinkCollisionEnabledCommand>("box_attached", true));
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/box_cast_test.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/box_cast_test.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["boxbot_x_joint"] = -1.9;
@@ -165,7 +165,7 @@ void runLinkWithoutGeomTest(const Environment::Ptr& env, const Visualization::Pt
 
   env->applyCommand(std::make_shared<ChangeLinkCollisionEnabledCommand>("box_attached2", true));
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/box_cast_test.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/box_cast_test.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["boxbot_x_joint"] = -1.9;

diff --git a/trajopt/test/cast_cost_octomap_unit.cpp b/trajopt/test/cast_cost_octomap_unit.cpp
@@ -17,11 +17,11 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include "trajopt_test_utils.hpp"
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
 #include <trajopt_common/logging.hpp>
 #include <trajopt_common/stl_to_string.hpp>
+#include "trajopt_test_utils.hpp"
 
 using namespace trajopt;
 using namespace std;
@@ -44,10 +44,10 @@ class CastOctomapTest : public testing::TestWithParam<const char*>
 
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot_world.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot_world.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;
@@ -98,7 +98,7 @@ void runTest(const Environment::Ptr& env, const Visualization::Ptr& plotter, boo
 {
   CONSOLE_BRIDGE_logDebug("CastOctomapTest, boxes");
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/box_cast_test.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/box_cast_test.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["boxbot_x_joint"] = -1.9;

diff --git a/trajopt/test/cast_cost_unit.cpp b/trajopt/test/cast_cost_unit.cpp
@@ -12,11 +12,11 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <trajopt_test_utils.hpp>
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
 #include <trajopt_common/logging.hpp>
 #include <trajopt_common/stl_to_string.hpp>
+#include "trajopt_test_utils.hpp"
 
 using namespace trajopt;
 using namespace std;
@@ -39,10 +39,10 @@ class CastTest : public testing::TestWithParam<const char*>
 
   void SetUp() override
   {
-    boost::filesystem::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot.urdf");
-    boost::filesystem::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot.srdf");
+    boost::filesystem::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot.urdf");
+    boost::filesystem::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;
@@ -56,7 +56,7 @@ void runTest(const Environment::Ptr& env, const Visualization::Ptr& plotter, boo
 {
   CONSOLE_BRIDGE_logDebug("CastTest, boxes");
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/box_cast_test.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/box_cast_test.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["boxbot_x_joint"] = -1.9;

diff --git a/trajopt/test/cast_cost_world_unit.cpp b/trajopt/test/cast_cost_world_unit.cpp
@@ -13,11 +13,11 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include "trajopt_test_utils.hpp"
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
 #include <trajopt_common/logging.hpp>
 #include <trajopt_common/stl_to_string.hpp>
+#include "trajopt_test_utils.hpp"
 
 using namespace trajopt;
 using namespace std;
@@ -40,10 +40,10 @@ class CastWorldTest : public testing::TestWithParam<const char*>
 
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot_world.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/boxbot.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot_world.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/boxbot.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;
@@ -81,7 +81,7 @@ void runTest(const Environment::Ptr& env, const Visualization::Ptr& plotter, boo
 {
   CONSOLE_BRIDGE_logDebug("CastWorldTest, boxes");
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/box_cast_test.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/box_cast_test.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["boxbot_x_joint"] = -1.9;

diff --git a/trajopt/test/interface_unit.cpp b/trajopt/test/interface_unit.cpp
@@ -12,7 +12,6 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <trajopt_test_utils.hpp>
 #include <trajopt_common/logging.hpp>
 
 using namespace trajopt;
@@ -33,10 +32,10 @@ class InterfaceTest : public testing::TestWithParam<const char*>
   Visualization::Ptr plotter_;                             /**< Trajopt Plotter */
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/arm_around_table.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/pr2.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/arm_around_table.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/pr2.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;
@@ -161,7 +160,7 @@ TEST_F(InterfaceTest, initial_trajectory_json_interface)
   // These must match the json file or the test will fail!!
   const int steps = 10;
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/arm_around_table.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/arm_around_table.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["torso_lift_joint"] = 0;
@@ -196,7 +195,7 @@ TEST_F(InterfaceTest, initial_trajectory_time_json_interface)
   const int steps = 10;
   const double dt = 0.12341234;
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/arm_around_table.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/arm_around_table.json");
 
   std::unordered_map<std::string, double> ipos;
   ipos["torso_lift_joint"] = 0;

diff --git a/trajopt/test/joint_costs_unit.cpp b/trajopt/test/joint_costs_unit.cpp
@@ -11,7 +11,6 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <trajopt_test_utils.hpp>
 #include <trajopt_common/clock.hpp>
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
@@ -38,10 +37,10 @@ class CostsTest : public testing::TestWithParam<const char*>
 
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/arm_around_table.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/pr2.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/arm_around_table.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/pr2.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;

diff --git a/trajopt/test/kinematic_costs_unit.cpp b/trajopt/test/kinematic_costs_unit.cpp
@@ -11,7 +11,6 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <trajopt_test_utils.hpp>
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
 #include <trajopt_common/logging.hpp>
@@ -37,10 +36,10 @@ class KinematicCostsTest : public testing::Test
 
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/arm_around_table.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/pr2.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/arm_around_table.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/pr2.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     gLogLevel = trajopt_common::LevelError;

diff --git a/trajopt/test/numerical_ik_unit.cpp b/trajopt/test/numerical_ik_unit.cpp
@@ -12,12 +12,12 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt/plot_callback.hpp>
 #include <trajopt/problem_description.hpp>
 #include <trajopt_sco/optimizers.hpp>
-#include <trajopt_test_utils.hpp>
 #include <trajopt_common/clock.hpp>
 #include <trajopt_common/config.hpp>
 #include <trajopt_common/eigen_conversions.hpp>
 #include <trajopt_common/logging.hpp>
 #include <trajopt_common/stl_to_string.hpp>
+#include "trajopt_test_utils.hpp"
 
 using namespace trajopt;
 using namespace std;
@@ -36,10 +36,10 @@ class NumericalIKTest : public testing::TestWithParam<const char*>
   Visualization::Ptr plotter_;                             /**< Trajopt Plotter */
   void SetUp() override
   {
-    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DIR) + "/test/data/arm_around_table.urdf");
-    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DIR) + "/test/data/pr2.srdf");
+    tesseract_common::fs::path urdf_file(std::string(TRAJOPT_DATA_DIR) + "/arm_around_table.urdf");
+    tesseract_common::fs::path srdf_file(std::string(TRAJOPT_DATA_DIR) + "/pr2.srdf");
 
-    ResourceLocator::Ptr locator = std::make_shared<TrajOptSupportResourceLocator>();
+    ResourceLocator::Ptr locator = std::make_shared<tesseract_common::GeneralResourceLocator>();
     EXPECT_TRUE(env_->init(urdf_file, srdf_file, locator));
 
     // Create plotting tool
@@ -57,7 +57,7 @@ void runTest(const Environment::Ptr& env, const Visualization::Ptr& /*plotter*/,
 {
   CONSOLE_BRIDGE_logDebug("NumericalIKTest, numerical_ik1");
 
-  Json::Value root = readJsonFile(std::string(TRAJOPT_DIR) + "/test/data/config/numerical_ik1.json");
+  Json::Value root = readJsonFile(std::string(TRAJOPT_DATA_DIR) + "/config/numerical_ik1.json");
 
   //  plotter_->plotScene();