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test: increase render timeouts to 200ms
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For EGL 100ms suffices, OSMesa local manages 200ms
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@DavidPL1
DavidPL1 committed Nov 28, 2024
1 parent 5fe0b7f commit 73410d3
Showing 1 changed file with 22 additions and 24 deletions.
46 changes: 22 additions & 24 deletions mujoco_ros/test/mujoco_render_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -733,13 +733,13 @@ TEST_F(BaseEnvFixture, RGB_Published_Correctly)
EXPECT_EQ(offscreen->cams[0]->height_, 48);

env_ptr->step(1);
// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
float seconds = 0;
while (rgb_images.size() == 0 && seconds < .1) {
while (rgb_images.size() == 0 && seconds < .2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
EXPECT_LT(seconds, .1) << "RGB image not published within 100ms";
EXPECT_LT(seconds, .2) << "RGB image not published within 200ms";

ASSERT_EQ(rgb_infos.size(), 1);
ASSERT_EQ(rgb_images.size(), 1);
Expand Down Expand Up @@ -785,13 +785,13 @@ TEST_F(BaseEnvFixture, Cam_Timing_Correct)
EXPECT_TRUE(env_ptr->settings_.render_offscreen);

env_ptr->step(1);
// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
float seconds = 0;
while (rgb_images.size() == 0 && seconds < .1) {
while (rgb_images.size() == 0 && seconds < .2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
EXPECT_LT(seconds, .1) << "RGB image not published within 100ms";
EXPECT_LT(seconds, .2) << "RGB image not published within 200ms";

OffscreenRenderContext *offscreen = env_ptr->getOffscreenContext();
ASSERT_EQ(offscreen->cams.size(), 1);
Expand All @@ -802,22 +802,20 @@ TEST_F(BaseEnvFixture, Cam_Timing_Correct)
EXPECT_EQ(offscreen->cams[0]->stream_type_, rendering::streamType::RGB);
EXPECT_EQ(offscreen->cams[0]->pub_freq_, 30);

// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
seconds = 0;
while (rgb_images.size() == 0 && seconds < 0.1) {
while (rgb_images.size() == 0 && seconds < 0.2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
EXPECT_LT(seconds, 0.1) << "RGB image not published within 100ms";
EXPECT_LT(seconds, 0.2) << "RGB image not published within 200ms";

ASSERT_EQ(rgb_infos.size(), 1);
ASSERT_EQ(rgb_images.size(), 1);

ros::Time t1 = ros::Time::now();
// Step the simulation to as to trigger the camera rendering
mjModel *m = env_ptr->getModelPtr();
ROS_INFO_STREAM("Next pub time will be " << (1.0 / 30.0) << " seconds from now. Thus in "
<< std::ceil((1.0 / 30.0) / m->opt.timestep) << " steps.");
mjModel *m = env_ptr->getModelPtr();
int n_steps = std::ceil((1.0 / 30.0) / env_ptr->getModelPtr()->opt.timestep);

env_ptr->step(n_steps - 1);
Expand All @@ -829,14 +827,14 @@ TEST_F(BaseEnvFixture, Cam_Timing_Correct)
ASSERT_EQ(rgb_images.size(), 1);

env_ptr->step(1);
// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
seconds = 0;
while (rgb_images.size() < 2 && seconds < 0.1) {
while (rgb_images.size() < 2 && seconds < 0.2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
// should now have received new image
EXPECT_LT(seconds, 0.1) << "RGB image not published within 100ms";
EXPECT_LT(seconds, 0.2) << "RGB image not published within 200ms";

ASSERT_EQ(rgb_infos.size(), 2);
ASSERT_EQ(rgb_images.size(), 2);
Expand Down Expand Up @@ -899,13 +897,13 @@ TEST_F(BaseEnvFixture, RGB_Image_Dtype)
EXPECT_EQ(offscreen->cams[0]->width_, 72);
EXPECT_EQ(offscreen->cams[0]->height_, 48);

// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
float seconds = 0;
while (rgb_images.size() == 0 && seconds < .1) {
while (rgb_images.size() == 0 && seconds < .2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
EXPECT_LT(seconds, .1) << "RGB image not published within 100ms";
EXPECT_LT(seconds, .2) << "RGB image not published within 200ms";

ASSERT_EQ(rgb_images.size(), 1);
EXPECT_EQ(rgb_images[0].data.size(), 72 * 48 * 3);
Expand Down Expand Up @@ -948,13 +946,13 @@ TEST_F(BaseEnvFixture, DEPTH_Image_Dtype)
EXPECT_EQ(offscreen->cams[0]->width_, 72);
EXPECT_EQ(offscreen->cams[0]->height_, 48);

// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
float seconds = 0;
while (depth_images.size() == 0 && seconds < .1) {
while (depth_images.size() == 0 && seconds < .2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
EXPECT_LT(seconds, .1) << "Depth image not published within 100ms";
EXPECT_LT(seconds, .2) << "Depth image not published within 200ms";

ASSERT_EQ(depth_images.size(), 1);
EXPECT_EQ(depth_images[0].width, 72);
Expand Down Expand Up @@ -997,13 +995,13 @@ TEST_F(BaseEnvFixture, SEGMENTED_Image_Dtype)
EXPECT_EQ(offscreen->cams[0]->width_, 72);
EXPECT_EQ(offscreen->cams[0]->height_, 48);

// Wait for image to be published with 100ms timeout
// Wait for image to be published with 200ms timeout
float seconds = 0;
while (seg_images.size() == 0 && seconds < .1) {
while (seg_images.size() == 0 && seconds < .2) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
seconds += 0.001;
}
EXPECT_LT(seconds, .1) << "Segmentation image not published within 100ms";
EXPECT_LT(seconds, .2) << "Segmentation image not published within 200ms";

ASSERT_EQ(seg_images.size(), 1);
EXPECT_EQ(seg_images[0].data.size(), 72 * 48 * 3);
Expand Down

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