Minor test refactoring

* Remove unused variable callbackCountRigidTerrain_ * Fix whitespace in model.sdf * plowing_effect_test.world: set model pose instead of link pose, and raise spheres above ground level by setting initial Z coordinate to value of radius Signed-off-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Jul 5, 2022 · b6cf816 · b6cf816
1 parent 4822d47
commit b6cf816
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Showing 3 changed files with 7 additions and 13 deletions.
diff --git a/test/integration/plowing_effect.cc b/test/integration/plowing_effect.cc
@@ -40,7 +40,6 @@ class PlowingEffectTricycle : public ServerFixture
  private: physics::CollisionPtr wheelCollisionPtr_ = nullptr;
  private: double plowingAngleRigidTerrain_;
 
- private: int callbackCountRigidTerrain_ = 1;
  private: const int maxCallbackCountRigidTerrain_ = 200;
 
   /// constant params from SDF
@@ -77,11 +76,6 @@ class PlowingEffectSpheres : public ServerFixture
 ////////////////////////////////////////////////////////////////////////
 void PlowingEffectTricycle::CallbackRigidTerrain(const ConstContactsPtr &_msg)
 {
-  if(callbackCountRigidTerrain_ < maxCallbackCountRigidTerrain_)
-  {
-    callbackCountRigidTerrain_ = callbackCountRigidTerrain_ + 1;
-  }
-
   std::string wheelCollisionStr = "original_tricycle::wheel_front::collision";
   std::string groundCollisionStr = "plowing_effect_ground_plane::link::collision";
 

diff --git a/test/models/plowing_effect_trisphere_cycle/model.sdf b/test/models/plowing_effect_trisphere_cycle/model.sdf
@@ -251,7 +251,7 @@
             <ode>
               <kp>4000</kp>
               <kd>16</kd>
-	          <max_vel>10</max_vel>
+              <max_vel>10</max_vel>
               <min_depth>0.0005</min_depth>
             </ode>
           </contact>
@@ -328,7 +328,7 @@
             <ode>
               <kp>4000</kp>
               <kd>16</kd>
-	      <max_vel>10</max_vel>
+              <max_vel>10</max_vel>
               <min_depth>0.0005</min_depth>
             </ode>
           </contact>
@@ -391,7 +391,7 @@
             <ode>
               <kp>4000</kp>
               <kd>16</kd>
-	      <max_vel>10</max_vel>
+              <max_vel>10</max_vel>
               <min_depth>0.0005</min_depth>
             </ode>
           </contact>

diff --git a/test/worlds/plowing_effect_test.world b/test/worlds/plowing_effect_test.world
@@ -12,8 +12,8 @@
     </include>
 
     <model name="sphere1">
+      <pose>0 0 0.4 0 0 0</pose>
       <link name='base_link'>
-        <pose>0 0 0 0 0 0</pose>
         <inertial>
           <mass>5.0</mass>
           <inertia>
@@ -47,8 +47,8 @@
     </model>
 
     <model name= "sphere2" xmlns:gz="https://gazebosim.org/schema">
+      <pose>0 1 0.4  0 0 0</pose>
       <link name="base_link">
-        <pose>0 1 0  0 0 0</pose>
         <inertial>
           <mass>5.0</mass>
           <inertia>
@@ -96,8 +96,8 @@
     </model>
 
     <model name= "sphere3" xmlns:gz="https://gazebosim.org/schema">
+      <pose>0 2 0.4  0 0 0</pose>
       <link name="base_link">
-        <pose>0 2 0  0 0 0</pose>
         <inertial>
           <mass>5.0</mass>
           <inertia>
@@ -145,8 +145,8 @@
     </model>
 
     <model name= "sphere4" xmlns:gz="https://gazebosim.org/schema">
+      <pose>0 3 0.4  0 0 0</pose>
       <link name="base_link">
-        <pose>0 3 0  0 0 0</pose>
         <inertial>
           <mass>5.0</mass>
           <inertia>