diff --git a/examples/worlds/model_photo_shoot.sdf b/examples/worlds/model_photo_shoot.sdf index 84ec5b913d..a64dbb55d8 100644 --- a/examples/worlds/model_photo_shoot.sdf +++ b/examples/worlds/model_photo_shoot.sdf @@ -17,7 +17,7 @@ filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors"> ogre2 - 1, 1, 1 + 1.0 1.0 1.0 https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut diff --git a/test/integration/ModelPhotoShootTest.hh b/test/integration/ModelPhotoShootTest.hh index 895c7edad6..a47cbe4865 100644 --- a/test/integration/ModelPhotoShootTest.hh +++ b/test/integration/ModelPhotoShootTest.hh @@ -229,7 +229,6 @@ 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([&]( @@ -242,7 +241,12 @@ 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 gazebo::UpdateInfo &, @@ -284,7 +288,7 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> } this->checkRandomJoints = false; } - }).Finalize(); + }); this->takeTestPics = true; @@ -292,7 +296,7 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> 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"); diff --git a/test/worlds/model_photo_shoot_random_joints.sdf b/test/worlds/model_photo_shoot_random_joints.sdf index dd22d60677..77b9ec2fc2 100644 --- a/test/worlds/model_photo_shoot_random_joints.sdf +++ b/test/worlds/model_photo_shoot_random_joints.sdf @@ -17,7 +17,7 @@ filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors"> ogre2 - 1, 1, 1 + 1.0 1.0 1.0 https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut