Fix ModelPhotoShootTest test failures (#2294)

The failures are caused by a change in the DART physics engine
(dartsim/dart#1774) which causes joints to
recover after reaching or exceeding their position limits. It seems like
the model used in this plugin starts off with joint limits violated and
recovers after a few iterations. This causes a small movement of the
robot. Since the test works by comparing images taken of the robot at
the start of simulation and after a few iterations, the small movement
causes a discrepancy in the images. The solution here is to run the
whole test while simulation is paused.

This also cleans up some TestFixture warnings.

Signed-off-by: Addisu Z. Taddese <[email protected]>

Author: azeey

examples/worlds/model_photo_shoot.sdf

@@ -17,7 +17,7 @@
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
       <render_engine>ogre2</render_engine>
-      <background_color>1, 1, 1</background_color>
+      <background_color>1.0 1.0 1.0</background_color>
     </plugin>
     <include>
       <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Robonaut</uri>

test/integration/ModelPhotoShootTest.hh

@@ -230,7 +230,6 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test>
     // First run of the server generating images through the plugin.
     TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH),
         _sdfWorld));
-    fixture.Server()->SetUpdatePeriod(1ns);
 
     common::ConnectionPtr postRenderConn;
     fixture.OnConfigure([&](
@@ -243,7 +242,12 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test>
             std::bind(&ModelPhotoShootTest::OnPostRender, this));
     }).Finalize();
 
-    fixture.Server()->Run(true, 50, false);
+    fixture.Server()->SetUpdatePeriod(1ns);
+
+    for (int i = 0; i < 50; ++i)
+    {
+      fixture.Server()->RunOnce(true);
+    }
     this->LoadPoseValues();
 
     fixture.OnPreUpdate([&](const sim::UpdateInfo &,
@@ -285,15 +289,15 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test>
         }
         this->checkRandomJoints = false;
       }
-    }).Finalize();
+    });
 
     this->takeTestPics = true;
 
     const auto end_time = std::chrono::steady_clock::now() +
         std::chrono::milliseconds(3000);
     while (takeTestPics && end_time > std::chrono::steady_clock::now())
     {
-      fixture.Server()->Run(true, 1, false);
+      fixture.Server()->RunOnce(true);
       std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
     testImages("1.png", "1_test.png");

test/worlds/model_photo_shoot_random_joints.sdf

@@ -17,7 +17,7 @@
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
       <render_engine>ogre2</render_engine>
-      <background_color>1, 1, 1</background_color>
+      <background_color>1.0 1.0 1.0</background_color>
     </plugin>
     <include>
       <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Robonaut</uri>