Modifies the dropweight test to test for breaching the surface.

lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh

@@ -50,12 +50,13 @@ double angleDiff(double _a, double _b)
   return diff.Radian();
 }
 
-/// \brief Convenient fixture that provides boilerplate code common to most
-/// LRAUV tests.
-class LrauvTestFixture : public ::testing::Test
+/// \brief Abstract base class for fixture that provides boilerplate code common
+/// to most LRAUV tests.
+class LrauvTestFixtureBase : public ::testing::Test
 {
-  // Documentation inherited
-  protected: void SetUp() override
+  // Setup the specified world.
+  // \param[in] _worldName Name of the world to load.
+  public: void SetUp(const std::string &_worldName)
   {
     ignition::common::Console::SetVerbosity(4);
 
@@ -66,12 +67,12 @@ class LrauvTestFixture : public ::testing::Test
       commandTopic);
 
     auto stateTopic = "/tethys/state_topic";
-    this->node.Subscribe(stateTopic, &LrauvTestFixture::OnState, this);
+    this->node.Subscribe(stateTopic, &LrauvTestFixtureBase::OnState, this);
 
     // Setup fixture
     this->fixture = std::make_unique<ignition::gazebo::TestFixture>(
         ignition::common::joinPaths(
-        std::string(PROJECT_SOURCE_PATH), "worlds", "buoyant_tethys.sdf"));
+        std::string(PROJECT_SOURCE_PATH), "worlds", _worldName));
 
     fixture->OnPostUpdate(
       [&](const ignition::gazebo::UpdateInfo &_info,
@@ -302,4 +303,26 @@ class LrauvTestFixture : public ::testing::Test
   /// \brief Publishes commands
   public: ignition::transport::Node::Publisher commandPub;
 };
+
+
+/// \brief Loads the default "buyant_tethys.sdf" world.
+class LrauvTestFixture : public LrauvTestFixtureBase
+{
+  /// Documentation inherited
+  protected: void SetUp() override
+  {
+    LrauvTestFixtureBase::SetUp("buoyant_tethys.sdf");
+  }
+};
+
+/// \brief Loads the default "buyant_tethys_At_depth.sdf" world.
+/// This world has the robot start at a certain depth.
+class LrauvTestFixtureAtDepth : public LrauvTestFixtureBase
+{
+  /// Documentation inherited
+  protected: void SetUp() override
+  {
+    LrauvTestFixtureBase::SetUp("buoyant_tethys_at_depth.sdf");
+  }
+};
 #endif

lrauv_ignition_plugins/test/test_drop_weight.cc

@@ -29,13 +29,23 @@
 #include <fstream>
 
 //////////////////////////////////////////////////
-TEST_F(LrauvTestFixture, DropWeightRelease)
+TEST_F(LrauvTestFixtureAtDepth, DropWeightRelease)
 {
+  // Max iterations
+  const int maxIterations{3800};
+
+  // Surface is at 0m
+  const double targetZ{0};
+  // Tolerance, the vehicle will breach the surface
+  const double tol{0.5};
+  // Starting point of the vehicle
+  const double startZ{-10};
+
   // Get initial Z
   this->fixture->Server()->Run(true, 100, false);
   EXPECT_EQ(100, this->iterations);
   EXPECT_EQ(100, this->tethysPoses.size());
-  EXPECT_NEAR(0.0, this->tethysPoses.back().Pos().Z(), 0.05);
+  EXPECT_NEAR(startZ, this->tethysPoses.back().Pos().Z(), 0.05);
 
   // Tell the vehicle to release the weight
   lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg;
@@ -44,16 +54,26 @@ TEST_F(LrauvTestFixture, DropWeightRelease)
   // Neutral buoyancy
   cmdMsg.set_buoyancyaction_(0.0005);
 
-  // Run server until the command is processed and the model floats to a
-  // certain height
-  double targetZ{0.005};
+  // Run the server for fixed iterations
   this->PublishCommandWhile(cmdMsg, [&]()
   {
-    return this->tethysPoses.back().Pos().Z() < targetZ;
+    return this->iterations <= maxIterations;
   });
 
+  for (auto pose : this->tethysPoses)
+  {
+    // Make sure that the vehicle just breaches the surface of the the water
+    EXPECT_GT(targetZ + tol, pose.Pos().Z());
+
+    // MAke sure vehicle goes up.
+    EXPECT_LT(startZ - tol, pose.Pos().Z());
+  }
+
+  // Actually ran the server.
   EXPECT_LT(100, this->iterations);
   EXPECT_LT(100, this->tethysPoses.size());
-  EXPECT_LT(targetZ, this->tethysPoses.back().Pos().Z());
+
+  // Make sure we do get near the surface
+  EXPECT_NEAR(targetZ, this->tethysPoses.back().Pos().Z(), tol);
 }
 

lrauv_ignition_plugins/test/test_mass_shifter.cc

@@ -29,7 +29,7 @@
 #include <fstream>
 
 //////////////////////////////////////////////////
-TEST_F(LrauvTestFixture, MassShifterTilt)
+TEST_F(LrauvTestFixtureAtDepth, MassShifterTilt)
 {
   // Check initial orientation
   this->fixture->Server()->Run(true, 100, false);

lrauv_ignition_plugins/worlds/buoyant_tethys.sdf

@@ -35,15 +35,15 @@
     <plugin
       filename="ignition-gazebo-buoyancy-system"
       name="ignition::gazebo::systems::Buoyancy">
-      <!-- TODO: fix behaviour near surface, see https://github.com/osrf/lrauv/issues/102
+      <!-- TODO: fix behaviour near surface, see https://github.com/osrf/lrauv/issues/102-->
         <graded_buoyancy>
         <default_density>1025</default_density>
         <density_change>
           <above_depth>0.5</above_depth>
-          <density>1</density>
+          <density>0</density>
         </density_change>
-      </graded_buoyancy-->
-      <uniform_fluid_density>1025</uniform_fluid_density>
+      </graded_buoyancy>
+      <!--<uniform_fluid_density>1025</uniform_fluid_density> -->
     </plugin>
 
     <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied