diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
index 492666b0ec..3fc0458e08 100644
--- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
+++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
@@ -615,8 +615,7 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm)
       this->sensorSize,
       this->forceLength,
       this->cameraUpdateRate,
-      this->depthCameraOffset,
-      this->visualizationResolution);
+      this->depthCameraOffset);
 
   this->initialized = true;
 }
diff --git a/src/systems/optical_tactile_plugin/Visualization.cc b/src/systems/optical_tactile_plugin/Visualization.cc
index 22ba842ebb..d330e6a9d4 100644
--- a/src/systems/optical_tactile_plugin/Visualization.cc
+++ b/src/systems/optical_tactile_plugin/Visualization.cc
@@ -32,14 +32,12 @@ OpticalTactilePluginVisualization::OpticalTactilePluginVisualization(
   ignition::math::Vector3d &_sensorSize,
   double &_forceLength,
   float &_cameraUpdateRate,
-  ignition::math::Pose3f &_depthCameraOffset,
-  int &_visualizationResolution) :
+  ignition::math::Pose3f &_depthCameraOffset) :
   modelName(_modelName),
   sensorSize(_sensorSize),
   forceLength(_forceLength),
   cameraUpdateRate(_cameraUpdateRate),
-  depthCameraOffset(_depthCameraOffset),
-  visualizationResolution(_visualizationResolution)
+  depthCameraOffset(_depthCameraOffset)
 {
 }
 
diff --git a/src/systems/optical_tactile_plugin/Visualization.hh b/src/systems/optical_tactile_plugin/Visualization.hh
index a5e863e139..96c8b46cc0 100644
--- a/src/systems/optical_tactile_plugin/Visualization.hh
+++ b/src/systems/optical_tactile_plugin/Visualization.hh
@@ -52,15 +52,12 @@ namespace optical_tactile_sensor
     /// \param[in] _forceLength Value of the forceLength attribute
     /// \param[in] _cameraUpdateRate Value of the cameraUpdateRate attribute
     /// \param[in] _depthCameraOffset Value of the depthCameraOffset attribute
-    /// \param[in] _visualizationResolution Value of the
-    /// visualizationResolution attribute
     public: OpticalTactilePluginVisualization(
         std::string &_modelName,
         ignition::math::Vector3d &_sensorSize,
         double &_forceLength,
         float &_cameraUpdateRate,
-        ignition::math::Pose3f &_depthCameraOffset,
-        int &_visualizationResolution);
+        ignition::math::Pose3f &_depthCameraOffset);
 
     /// \brief Initialize the marker message representing the optical tactile
     /// sensor
@@ -153,9 +150,6 @@ namespace optical_tactile_sensor
     /// \brief Offset between depth camera pose and model pose
     private: ignition::math::Pose3f depthCameraOffset;
 
-    /// \brief Resolution of the sensor in pixels to skip.
-    private: int visualizationResolution;
-
     /// \brief Whether the normal forces messages are initialized or not
     private: bool normalForcesMsgsAreInitialized{false};
   };
diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc
index 92c60a7d89..d92b3f15c3 100644
--- a/test/integration/thruster.cc
+++ b/test/integration/thruster.cc
@@ -21,6 +21,7 @@
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/Util.hh>
+#include <ignition/math/Helpers.hh>
 #include <ignition/transport/Node.hh>
 #include <ignition/utilities/ExtraTestMacros.hh>
 
@@ -244,7 +245,7 @@ void ThrusterTest::TestWorld(const std::string &_world,
     //    linear_velocity) / (angular_velocity * propeller_diameter))
     // omega = sqrt(thrust /
     //     (fluid_density * thrust_coefficient * propeller_diameter ^ 4))
-    if (_calculateCoefficient && angularVelocity != 0)
+    if (_calculateCoefficient && gz::math::equal(angularVelocity, 0.0))
     {
       _thrustCoefficient = _alpha1 + _alpha2 * (((1 - _wakeFraction) *
           propellerLinVels[i].Length()) / (angularVelocity * _diameter));