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[Backport]: Fix ModelPhotoShootTest test failures (#2294) #2339

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merged 2 commits into from
Apr 23, 2024
Merged

[Backport]: Fix ModelPhotoShootTest test failures (#2294) #2339

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a123666
Fix ModelPhotoShootTest test failures (#2294)
azeey Jan 19, 2024
2c130ff
Rerun CI
azeey Apr 23, 2024
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2 changes: 1 addition & 1 deletion examples/worlds/model_photo_shoot.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>1, 1, 1</background_color>
<background_color>1.0 1.0 1.0</background_color>
</plugin>
<include>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut</uri>
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12 changes: 8 additions & 4 deletions test/integration/ModelPhotoShootTest.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,6 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test>
// First run of the server generating images through the plugin.
TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH),
_sdfWorld));
fixture.Server()->SetUpdatePeriod(1ns);

common::ConnectionPtr postRenderConn;
fixture.OnConfigure([&](
Expand All @@ -242,7 +241,12 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test>
std::bind(&ModelPhotoShootTest::OnPostRender, this));
}).Finalize();

fixture.Server()->Run(true, 50, false);
fixture.Server()->SetUpdatePeriod(1ns);

for (int i = 0; i < 50; ++i)
{
fixture.Server()->RunOnce(true);
}
this->LoadPoseValues();

fixture.OnPreUpdate([&](const gazebo::UpdateInfo &,
Expand Down Expand Up @@ -284,15 +288,15 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test>
}
this->checkRandomJoints = false;
}
}).Finalize();
});

this->takeTestPics = true;

const auto end_time = std::chrono::steady_clock::now() +
std::chrono::milliseconds(3000);
while (takeTestPics && end_time > std::chrono::steady_clock::now())
{
fixture.Server()->Run(true, 1, false);
fixture.Server()->RunOnce(true);
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
testImages("1.png", "1_test.png");
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2 changes: 1 addition & 1 deletion test/worlds/model_photo_shoot_random_joints.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>1, 1, 1</background_color>
<background_color>1.0 1.0 1.0</background_color>
</plugin>
<include>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut</uri>
Expand Down