Add workaround for "ODE INTERNAL ERROR 1: assertion "!colliders_initi…

…alized" failed in dInitColliders() [collision_kernel.cpp:168]" crash
robotology · Aug 23, 2024 · 62498e5 · 62498e5
1 parent 1f5b43d
commit 62498e5
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Showing 3 changed files with 35 additions and 18 deletions.
diff --git a/.github/workflows/apt.yml b/.github/workflows/apt.yml
@@ -101,18 +101,18 @@ jobs:
       run: |
         cd build
         # Deterministic tests
-        ctest -E "^ConcurrentInstancesTest|^ControlBoardOnMultipleGazeboInstancesTest|^CameraTest" --output-on-failure -C ${{ matrix.build_type }} .
+        ctest -E "^CameraTest" --output-on-failure -C ${{ matrix.build_type }} .
         # Non-deterministic tests
-        ctest -R "^ConcurrentInstancesTest|^ControlBoardOnMultipleGazeboInstancesTest|^CameraTest" --repeat until-pass:10  --output-on-failure -C ${{ matrix.build_type }} .
+        ctest -R "^CameraTest" --repeat until-pass:10  --output-on-failure -C ${{ matrix.build_type }} .
 
     - name: Test (Debug)
       if: contains(matrix.build_type, 'Debug')
       run: |
         cd build
         # Deterministic tests
-        ctest -E "^ConcurrentInstancesTest|^ControlBoardOnMultipleGazeboInstancesTest|^CameraTest"  -T Test -T Coverage --output-on-failure -C ${{ matrix.build_type }} .
+        ctest -E "^CameraTest"  -T Test -T Coverage --output-on-failure -C ${{ matrix.build_type }} .
         # Non-deterministic tests
-        ctest -R "^ConcurrentInstancesTest|^ControlBoardOnMultipleGazeboInstancesTest|^CameraTest" -T Test -T Coverage --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} .
+        ctest -R "^CameraTest" -T Test -T Coverage --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} .
 
 
     - name: Install

diff --git a/tests/commons/ConcurrentInstancesTest.cc b/tests/commons/ConcurrentInstancesTest.cc
@@ -13,22 +13,30 @@ TEST(ConcurrentInstancesTest, StartConcurrentGazeboInstancesOfDifferentModels)
 {
     auto plannedIterations = 1'000;
 
+    gz::common::Console::SetVerbosity(4);
+
+
     gz::sim::TestFixture fixture1(
         (std::filesystem::path(CMAKE_CURRENT_SOURCE_DIR) / "dummy_sphere.sdf").string());
+    fixture1.Finalize();
+
+    // Workaround for https://github.com/robotology/gz-sim-yarp-plugins/issues/201
+
     gz::sim::TestFixture fixture2(
         (std::filesystem::path(CMAKE_CURRENT_SOURCE_DIR) / "dummy_box.sdf").string());
-    gz::common::Console::SetVerbosity(4);
-
-    fixture1.Finalize();
     fixture2.Finalize();
 
-    ASSERT_TRUE(fixture1.Server()->Run(false, plannedIterations, false));
-    ASSERT_TRUE(fixture2.Server()->Run(false, plannedIterations, false));
+    // First do a step blocked to workaround https://github.com/robotology/gz-sim-yarp-plugins/issues/20
+    // Remove if and once https://github.com/gazebosim/gz-physics/pull/675 is merged
+    ASSERT_TRUE(fixture1.Server()->Run(/*blocking=*/true, 1, /*paused=*/false));
+    ASSERT_TRUE(fixture2.Server()->Run(/*blocking=*/true, 1, /*paused=*/false));
+
+    ASSERT_TRUE(fixture1.Server()->Run(/*paused=*/false, plannedIterations-1, /*paused=*/false));
+    ASSERT_TRUE(fixture2.Server()->Run(/*paused=*/false, plannedIterations-1, /*paused=*/false));
 
     while (fixture1.Server()->Running() || fixture2.Server()->Running())
     {
-        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-        std::cerr << "Waiting for Gazebo simulation to finish..." << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 
     ASSERT_EQ(fixture1.Server()->IterationCount(), plannedIterations);

diff --git a/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc b/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc
@@ -60,14 +60,11 @@ TEST(ControlBoardOnMultipleGazeboInstances, StartConcurrentGazeboInstances)
     unsigned int iterationsToCompleteMotion1 = 0;
     unsigned int iterationsToCompleteMotion2 = 0;
 
+    gz::common::Console::SetVerbosity(4);
+
     gz::sim::TestFixture fixture1(
         (std::filesystem::path(CMAKE_CURRENT_SOURCE_DIR) / "pendulum_multiple_gz_instances.sdf")
             .string());
-    gz::sim::TestFixture fixture2(
-        (std::filesystem::path(CMAKE_CURRENT_SOURCE_DIR) / "pendulum_multiple_gz_instances.sdf")
-            .string());
-    gz::common::Console::SetVerbosity(4);
-
     fixture1
         .OnConfigure([&](const gz::sim::Entity& _worldEntity,
                          const std::shared_ptr<const sdf::Element>& /*_sdf*/,
@@ -98,6 +95,13 @@ TEST(ControlBoardOnMultipleGazeboInstances, StartConcurrentGazeboInstances)
             })
         .Finalize();
 
+    // Workaround for https://github.com/robotology/gz-sim-yarp-plugins/issues/201
+    // Remove if and once https://github.com/gazebosim/gz-physics/pull/675 is merged
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    gz::sim::TestFixture fixture2(
+        (std::filesystem::path(CMAKE_CURRENT_SOURCE_DIR) / "pendulum_multiple_gz_instances.sdf")
+            .string());
     fixture2
         .OnConfigure([&](const gz::sim::Entity& _worldEntity,
                          const std::shared_ptr<const sdf::Element>& /*_sdf*/,
@@ -132,8 +136,13 @@ TEST(ControlBoardOnMultipleGazeboInstances, StartConcurrentGazeboInstances)
     iPositionControl1->positionMove(0, refPosition1);
     iPositionControl2->positionMove(0, refPosition2);
 
-    ASSERT_TRUE(fixture1.Server()->Run(false, plannedIterations, false));
-    ASSERT_TRUE(fixture2.Server()->Run(false, plannedIterations, false));
+    // First do a step blocked to workaround https://github.com/robotology/gz-sim-yarp-plugins/issues/20
+    // Remove if and once https://github.com/gazebosim/gz-physics/pull/675 is merged
+    ASSERT_TRUE(fixture1.Server()->Run(/*blocking=*/true, 1, /*paused=*/false));
+    ASSERT_TRUE(fixture2.Server()->Run(/*blocking=*/true, 1, /*paused=*/false));
+
+    ASSERT_TRUE(fixture1.Server()->Run(/*blocking=*/false, plannedIterations-1, /*paused=*/false));
+    ASSERT_TRUE(fixture2.Server()->Run(/*blocking=*/false, plannedIterations-1, /*paused=*/false));
 
     while (fixture1.Server()->Running() || fixture2.Server()->Running())
     {