Fix failing AHRS tests

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
osrf · Mar 15, 2022 · 9aa5300 · 9aa5300
1 parent 200e5da
commit 9aa5300
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/lrauv_ignition_plugins/test/test_ahrs.cc b/lrauv_ignition_plugins/test/test_ahrs.cc
@@ -65,10 +65,10 @@ class AhrsTest : public ::testing::Test
                                     "worlds", "buoyant_tethys.sdf"));
 
     this->node.Subscribe(
-        "/model/tethys/ahrs/imu", &AhrsTest::OnImuMessage, this);
+        "/tethys/ahrs/imu", &AhrsTest::OnImuMessage, this);
 
     this->node.Subscribe(
-        "/model/tethys/ahrs/magnetometer",
+        "/tethys/ahrs/magnetometer",
         &AhrsTest::OnMagnetometerMessage, this);
 
     this->fixture->OnConfigure(
@@ -194,9 +194,9 @@ class AhrsTest : public ::testing::Test
 // Acceleration due to gravity
 static constexpr double g0{9.8};  // m/s^2
 // Earth magnetic field
-static constexpr double Be{6.0e-6};  // T
-static constexpr double Bn{2.3e-5};  // T
-static constexpr double Bu{-4.2e-5};  // T
+static constexpr double Be{5.5645e-6};    // T
+static constexpr double Bn{22.8758e-6};   // T
+static constexpr double Bu{-42.3884e-6};  // T
 
 static constexpr double angularVelocityTolerance{1e-4};
 static constexpr double linearAccelerationTolerance{1e-4};

diff --git a/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf b/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf
@@ -80,6 +80,9 @@
       <elevation>0</elevation>
       <heading_deg>0</heading_deg>
     </spherical_coordinates>
+    <!-- Brought from https://github.com/ignitionrobotics/sdformat/blob/1acea10dab1cf0c3fa2583f3e2bfd0a8d14ea340/src/World.cc#L75-L76 -->
+    <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+
     <plugin
       filename="ScienceSensorsSystem"
       name="tethys::ScienceSensorsSystem">