Run C++ API tests in CI

.github/workflows/cpp.yml

@@ -31,5 +31,44 @@ jobs:
         working-directory: ${{github.workspace}}
         run: |
           echo "::add-matcher::./.github/problem-matchers/gcc.json"
-          cmake --build build --config Release
+          cmake --build build --parallel --config Release
           echo "::remove-matcher owner=problem-matcher-gcc::"
+
+  test:
+    name: Test
+    needs: build
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Fetch the package's repository
+        uses: actions/checkout@v4
+
+      - name: Setup CMake
+        uses: jwlawson/actions-setup-cmake@v2
+        with:
+          cmake-version: '3.18'
+
+      - name: Setup ccache
+        uses: hendrikmuhs/[email protected]
+        with:
+          key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-release
+          create-symlink: true
+
+      - name: Setup GTest
+        run: |
+          sudo apt-get update
+          sudo apt-get install -q -y --no-install-recommends libgtest-dev
+
+      - name: Configure CMake
+        working-directory: ${{github.workspace}}
+        run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DWAVEMAP_ENABLE_TESTING=ON library/cpp
+
+      - name: Build tests
+        working-directory: ${{github.workspace}}
+        run: |
+          echo "::add-matcher::./.github/problem-matchers/gcc.json"
+          cmake --build build --parallel --config Release
+          echo "::remove-matcher owner=problem-matcher-gcc::"
+
+      - name: Run tests
+        working-directory: ${{github.workspace}}/build
+        run: ctest -C Release

library/cpp/CMakeLists.txt

@@ -35,7 +35,9 @@ add_subdirectory(src/io)
 add_subdirectory(src/pipeline)
 
 # Tests
-if (ENABLE_TESTING OR CATKIN_ENABLE_TESTING)
+if (ENABLE_TESTING OR WAVEMAP_ENABLE_TESTING OR CATKIN_ENABLE_TESTING)
+  find_package(GTest REQUIRED)
+  enable_testing()
   add_subdirectory(test)
 endif ()
 

library/cpp/test/CMakeLists.txt

@@ -1,4 +1,3 @@
-find_package(GTest REQUIRED)
 include(GoogleTest)
 
 add_subdirectory(src/core)