ros-simulation#408 Increasing max time because some systems are takin…

…g 0.6 seconds to receive the messages (still well less than 2.0 seconds). Also all the tests can be run with run_tests_gazebo_plugins_rostest but only with the -j1 flag ros-simulation#409

gazebo_plugins/CMakeLists.txt

@@ -337,24 +337,25 @@ install(DIRECTORY test
   )
 
 # Tests
+# These need to be run with -j1 flag because gazebo can't be run
+# in parallel.
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
-  # add_rostest_gtest(set_model_state-test
-  #                   test/set_model_state_test/set_model_state_test.test 
-  #                   test/set_model_state_test/set_model_state_test.cpp)
-  # target_link_libraries(set_model_state-test ${catkin_LIBRARIES})
+  add_rostest_gtest(set_model_state-test
+                    test/set_model_state_test/set_model_state_test.test 
+                    test/set_model_state_test/set_model_state_test.cpp)
+  target_link_libraries(set_model_state-test ${catkin_LIBRARIES})
 
-  # Can't run these and the above test together
   add_rostest_gtest(depth_camera-test
                     test/camera/depth_camera.test
                     test/camera/depth_camera.cpp)
   target_link_libraries(depth_camera-test ${catkin_LIBRARIES})
-  # add_rostest_gtest(multicamera-test
-  #                   test/camera/multicamera.test
-  #                   test/camera/multicamera.cpp)
-  # target_link_libraries(multicamera-test ${catkin_LIBRARIES})
-  # add_rostest_gtest(camera-test
-  #                   test/camera/camera.test
-  #                   test/camera/camera.cpp)
-  # target_link_libraries(camera-test ${catkin_LIBRARIES})
+  add_rostest_gtest(multicamera-test
+                    test/camera/multicamera.test
+                    test/camera/multicamera.cpp)
+  target_link_libraries(multicamera-test ${catkin_LIBRARIES})
+  add_rostest_gtest(camera-test
+                    test/camera/camera.test
+                    test/camera/camera.cpp)
+  target_link_libraries(camera-test ${catkin_LIBRARIES})
 endif()

gazebo_plugins/test/camera/camera.cpp

@@ -60,7 +60,7 @@ TEST_F(CameraTest, cameraSubscribeTest)
   // this likely isn't that robust - what if the testing system is really slow?
   double time_diff = (ros::Time::now() - image_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, 1.0);
   cam_sub_.shutdown();
 }
 

gazebo_plugins/test/camera/depth_camera.cpp

@@ -80,22 +80,25 @@ TEST_F(DepthCameraTest, cameraSubscribeTest)
 
   EXPECT_EQ(depth_stamp_.toSec(), image_stamp_.toSec());
   EXPECT_EQ(depth_stamp_.toSec(), points_stamp_.toSec());
-  // This check depends on the update period being much longer
-  // than the expected difference between now and the received image time
+  // This check depends on the update period (currently 1.0/update_rate = 2.0 seconds)
+  // being much longer than the expected difference between now and the
+  // received image time.
+  const double max_time = 1.0;
+  const ros::Time current_time = ros::Time::now();
   // TODO(lucasw)
   // this likely isn't that robust - what if the testing system is really slow?
   double time_diff;
-  time_diff = (ros::Time::now() - image_stamp_).toSec();
+  time_diff = (current_time - image_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, max_time);
 
-  time_diff = (ros::Time::now() - depth_stamp_).toSec();
+  time_diff = (current_time - depth_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, max_time);
 
-  time_diff = (ros::Time::now() - points_stamp_).toSec();
+  time_diff = (current_time - points_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, max_time);
 
   cam_sub_.shutdown();
   depth_sub_.shutdown();

gazebo_plugins/test/camera/multicamera.cpp

@@ -89,7 +89,7 @@ TEST_F(MultiCameraTest, cameraSubscribeTest)
   // this likely isn't that robust - what if the testing system is really slow?
   double time_diff = (ros::Time::now() - image_left_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, 1.0);
   // cam_sub_.shutdown();
 }