From c550e3d8aaa90b231e83fd2ee6746c6f7e3d8ed4 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Tue, 26 Sep 2023 22:31:26 -0500
Subject: [PATCH] Add a failing test showing behavior when mesh calculator
 callback is not set

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 test/integration/root_dom.cc    | 10 ++++++++++
 test/sdf/mesh_auto_inertial.sdf | 17 +++++++++++++++++
 2 files changed, 27 insertions(+)
 create mode 100644 test/sdf/mesh_auto_inertial.sdf

diff --git a/test/integration/root_dom.cc b/test/integration/root_dom.cc
index 69d682dd8..3b5d7c0ca 100644
--- a/test/integration/root_dom.cc
+++ b/test/integration/root_dom.cc
@@ -300,3 +300,13 @@ TEST(DOMRoot, CreateMulipleWorlds)
   testFunc(root);
   testFunc(root2);
 }
+
+/////////////////////////////////////////////////
+TEST(DOMRoot, LoadWithoutMeshAutoInertialCalculator)
+{
+  const std::string testFile =
+    sdf::testing::TestFile("sdf", "mesh_auto_inertial.sdf");
+  sdf::Root root;
+  sdf::Errors errors = root.Load(testFile);
+  EXPECT_TRUE(errors.empty()) << errors;
+}
diff --git a/test/sdf/mesh_auto_inertial.sdf b/test/sdf/mesh_auto_inertial.sdf
new file mode 100644
index 000000000..ece976a41
--- /dev/null
+++ b/test/sdf/mesh_auto_inertial.sdf
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<!-- Since sdformat itself doesn't have an moment of inertia calculator for meshes, this file is not expected to load without errors -->
+<sdf version='1.11'>
+  <model name='test_model'>
+    <link name='L1'>
+      <inertial auto='true'/>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>box.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
+