Disable tests that need slip

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Apr 20, 2021 · 4879908 · 4879908
1 parent c008e52
commit 4879908
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diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc
@@ -304,11 +304,15 @@ TEST_P(DiffDriveTest, SkidPublishCmd)
   EXPECT_EQ(3u, odomPoses.size());
 
   EXPECT_LT(poses[0].Pos().X(), poses[3999].Pos().X());
-  EXPECT_LT(poses[0].Pos().Y(), poses[3999].Pos().Y());
   EXPECT_NEAR(poses[0].Pos().Z(), poses[3999].Pos().Z(), tol);
   EXPECT_NEAR(poses[0].Rot().X(), poses[3999].Rot().X(), tol);
   EXPECT_NEAR(poses[0].Rot().Y(), poses[3999].Rot().Y(), tol);
+
+  // Slip works on DART>=6.10, which isn't available on Ubuntu Focal
+#ifndef __linux__
+  EXPECT_LT(poses[0].Pos().Y(), poses[3999].Pos().Y());
   EXPECT_LT(poses[0].Rot().Z(), poses[3999].Rot().Z());
+#endif
 }
 
 /////////////////////////////////////////////////

diff --git a/test/integration/wheel_slip.cc b/test/integration/wheel_slip.cc
@@ -590,6 +590,9 @@ TEST_F(WheelSlipTest, TricyclesUphill)
 
   EXPECT_NEAR(angularSpeed, wheelRearLeftVelocity->Data()[0], 3e-3);
   EXPECT_NEAR(angularSpeed, wheelRearRightVelocity->Data()[0], 3e-3);
+  // Slip works on DART>=6.10, which isn't available on Ubuntu Focal
+#ifndef __linux__
   EXPECT_NEAR(noSlipLinearSpeed - worldVelTrisphere1->Data()[0],
       noSlipLinearSpeed * forceRatio, 5e-3);
+#endif
 }