PitchMass test is flaky

[chapulina]

The PitchMass test is flaky on main. Example failure:

2021-11-29T18:34:50.8645747Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8655138Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -0.77 vs -0.744079
2021-11-29T18:34:50.8658139Z 7: Index: 8000, X, reference: -0.87
2021-11-29T18:34:50.8659333Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8664057Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -1.11 vs -1.09432
2021-11-29T18:34:50.8665929Z 7: Index: 10000, X, reference: -1.21
2021-11-29T18:34:50.8670169Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8673526Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -1.45 vs -1.44413
2021-11-29T18:34:50.8678084Z 7: Index: 12000, X, reference: -1.55
2021-11-29T18:34:50.8681758Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8686160Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -1.8 vs -1.77638
2021-11-29T18:34:50.8689178Z 7: Index: 14000, X, reference: -1.8999999999999999
2021-11-29T18:34:50.8693365Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8697269Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -2.15 vs -2.12
2021-11-29T18:34:50.8700931Z 7: Index: 16000, X, reference: -2.25
2021-11-29T18:34:50.8703479Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8708519Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -2.5 vs -2.47103
2021-11-29T18:34:50.8710452Z 7: Index: 18000, X, reference: -2.6000000000000001
2021-11-29T18:34:50.8714231Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8717728Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -2.83 vs -2.81292
2021-11-29T18:34:50.8721507Z 7: Index: 20000, X, reference: -2.9300000000000002
2021-11-29T18:34:50.8724177Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8729192Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -3.19 vs -3.15125
2021-11-29T18:34:50.8731524Z 7: Index: 22000, X, reference: -3.29
2021-11-29T18:34:50.8737748Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8741502Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -3.54 vs -3.50361
2021-11-29T18:34:50.8745616Z 7: Index: 24000, X, reference: -3.6400000000000001
2021-11-29T18:34:50.8747981Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8777931Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -3.87 vs -3.84993
2021-11-29T18:34:50.8862225Z 7: Index: 26000, X, reference: -3.9700000000000002
2021-11-29T18:34:50.8863439Z 7: /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh:131: Failure
2021-11-29T18:34:50.8864815Z 7: Expected: (_refPose.Pos().X() + _posTols[0]) >= (this->tethysPoses[_index].X()), actual: -4.22 vs -4.18141
2021-11-29T18:34:50.8865717Z 7: Index: 28000, X, reference: -4.3200000000000003

The results suggest that the forward drift (towards -X) is increasing. This test had been quite stable for a while, so I wonder if any of the recent changes to thrusters may have affected it.

To move forward, we can increase the tolerances on the X axis for now.

[arjo129]

@chapulina After I update the tests in #96 I believe the flakiness should go away as the oscillations are significantly damped.