Fix test for new topic

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Jun 16, 2022 · 11a68be · 11a68be
1 parent dc16e61
commit 11a68be
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc
@@ -147,7 +147,7 @@ void OdometryPublisher::Configure(const Entity &_entity,
   this->dataPtr->odomFrame = this->dataPtr->model.Name(_ecm) + "/" + "odom";
   if (!_sdf->HasElement("odom_frame"))
   {
-    ignwarn << "OdometryPublisher system plugin missing <odom_frame>, "
+    igndbg << "OdometryPublisher system plugin missing <odom_frame>, "
       << "defaults to \"" << this->dataPtr->odomFrame << "\"" << std::endl;
   }
   else
@@ -177,7 +177,7 @@ void OdometryPublisher::Configure(const Entity &_entity,
     + "/" + "base_footprint";
   if (!_sdf->HasElement("robot_base_frame"))
   {
-    ignwarn << "OdometryPublisher system plugin missing <robot_base_frame>, "
+    igndbg << "OdometryPublisher system plugin missing <robot_base_frame>, "
       << "defaults to \"" << this->dataPtr->robotBaseFrame << "\"" << std::endl;
   }
   else
@@ -232,6 +232,8 @@ void OdometryPublisher::Configure(const Entity &_entity,
   {
     this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
         odomTopicValid);
+    ignmsg << "OdometryPublisher publishing odometry on [" << odomTopicValid
+           << "]" << std::endl;
   }
 
   std::string odomCovTopicValid {
@@ -245,6 +247,8 @@ void OdometryPublisher::Configure(const Entity &_entity,
   {
     this->dataPtr->odomCovPub = this->dataPtr->node.Advertise<
         msgs::OdometryWithCovariance>(odomCovTopicValid);
+    ignmsg << "OdometryPublisher publishing odometry with covariance on ["
+           << odomCovTopicValid << "]" << std::endl;
   }
 
   std::string tfTopic{"/model/" + this->dataPtr->model.Name(_ecm) +
@@ -261,6 +265,8 @@ void OdometryPublisher::Configure(const Entity &_entity,
   {
     this->dataPtr->tfPub = this->dataPtr->node.Advertise<msgs::Pose_V>(
         tfTopicValid);
+    ignmsg << "OdometryPublisher publishing Pose_V (TF) on ["
+           << tfTopicValid << "]" << std::endl;
   }
 }
 

diff --git a/test/integration/odometry_publisher.cc b/test/integration/odometry_publisher.cc
@@ -333,7 +333,7 @@ class OdometryPublisherTest
     {
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
-    ASSERT_NE(maxSleep, sleep);
+    EXPECT_NE(maxSleep, sleep);
 
     // Odom for 3s
     ASSERT_FALSE(odomPoses.empty());
@@ -611,7 +611,7 @@ TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Movement3d))
   TestMovement3d(
       ignition::common::joinPaths(PROJECT_SOURCE_PATH,
       "test", "worlds", "odometry_publisher_3d.sdf"),
-      "/model/X3/odometry", "/model/X3/tf", "X3/odom", "X3/base_footprint");
+      "/model/X3/odometry", "/model/X3/pose", "X3/odom", "X3/base_footprint");
 }
 
 /////////////////////////////////////////////////