Resolve "New processors workflow"

Closes #231 (closed)

test/gtest_odom_2D.cpp

@@ -408,8 +408,8 @@ TEST(Odom2D, KF_callback)
     processor_odom2d->keyFrameCallback(keyframe_2, dt/2);
     ASSERT_TRUE(problem->check(0));
     t += dt;
-    capture->setTimeStamp(t);
-    processor_odom2d->process(capture);
+    capture = std::make_shared<CaptureMotion>("ODOM 2D", t, sensor_odom2d, data, data_cov, 3, 3, nullptr);
+    sensor_odom2d->process(capture);
     ASSERT_TRUE(problem->check(0));
 
     CaptureMotionPtr key_capture_n = std::static_pointer_cast<CaptureMotion>(keyframe_2->getCaptureList().front());
@@ -440,8 +440,8 @@ TEST(Odom2D, KF_callback)
     processor_odom2d->keyFrameCallback(keyframe_1, dt/2);
     ASSERT_TRUE(problem->check(0));
     t += dt;
-    capture->setTimeStamp(t);
-    processor_odom2d->process(capture);
+    capture = std::make_shared<CaptureMotion>("ODOM 2D", t, sensor_odom2d, data, data_cov, 3, 3, nullptr);
+    sensor_odom2d->process(capture);
     ASSERT_TRUE(problem->check(0));
 
     CaptureMotionPtr key_capture_m = std::static_pointer_cast<CaptureMotion>(keyframe_1->getCaptureList().front());