[ros2] Add noise to imu test

[chapulina]

See #799

It turns out that the noise is being loaded correctly, it was a local issue

Let's double-check when CI is done:

• Linux
• Linux-aarch64
• macOS
• Windows

[dhood]

@chapulina I didn't understand what the CI was supposed to show. Is there maybe a way to get it to test gazebo_ros_pkgs somehow? (doesn't look like it did in those builds)

[chapulina]

Sorry, I don't know why I expected the links to ci.ros2.org to include gazebo_ros_pkgs. The result from build.ros2.org should be the correct one and its output doesn't have the errors reported on #799:

18:48:35 8: [ RUN      ] GazeboRosImuSensorTest.ImuMessageCorrect
18:48:35 8: �[1;32m[Msg] �[0m�[1;32mWaiting for master.�[0m�[1;32m
18:48:35 8: �[0m�[1;32m�[0m�[1;32m[Msg] �[0m�[1;32mConnected to gazebo master @ �[0m�[1;32mhttp://127.0.0.1:11345�[0m�[1;32m
18:48:35 8: �[0m�[1;32m�[0m�[1;32m[Msg] �[0m�[1;32mPublicized address: �[0m�[1;32m172.17.0.2�[0m�[1;32m
18:48:35 8: �[0m�[1;32m�[0m�[1;31m[Err] [RenderEngine.cc:725] �[0m�[1;31mCan't open display: �[0m�[1;31m�[0m�[1;31m
18:48:35 8: �[0m�[1;33m[Wrn] [RenderEngine.cc:93] �[0m�[1;33mUnable to create X window. Rendering will be disabled
18:48:35 8: �[0m�[1;33m[Wrn] [RenderEngine.cc:293] �[0m�[1;33mCannot initialize render engine since �[0m�[1;33mrender path type is NONE. Ignore this warning if�[0m�[1;33mrendering has been turned off on purpose.
18:48:35 8: �[0mALSA lib confmisc.c:767:(parse_card) cannot find card '0'
18:48:35 8: ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
18:48:35 8: ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
18:48:35 8: ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
18:48:35 8: ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
18:48:35 8: ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
18:48:35 8: ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
18:48:35 8: ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
18:48:35 8: AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
18:48:35 8: �[1;31m[Err] [OpenAL.cc:84] �[0m�[1;31mUnable to open audio device[�[0m�[1;31mdefault�[0m�[1;31m]
18:48:35 8:  Audio will be disabled.
18:48:35 8: �[0m�[1;36m[Dbg] [ServerFixture.cc:209] �[0m�[1;36mServerFixture load in �[0m�[1;36m0.3�[0m�[1;36m seconds, timeout after �[0m�[1;36m600�[0m�[1;36m seconds
18:48:35 8: �[0m�[1;36m[Dbg] [ServerFixture.cc:135] �[0m�[1;36mServerFixture::Unload�[0m�[1;36m
18:48:35 8: �[0m�[1;36m�[0m[       OK ] GazeboRosImuSensorTest.ImuMessageCorrect (789 ms)
18:48:35 8: [----------] 1 test from GazeboRosImuSensorTest (789 ms total)
18:48:35 8: 
18:48:35 8: [----------] Global test environment tear-down
18:48:35 8: [==========] 1 test from 1 test case ran. (789 ms total)
18:48:35 8: [  PASSED  ] 1 test.

[dhood]

OK no worries.

Confirming that the test used to output errors when not using this change. CI from when https://github.com/ros-simulation/gazebo_ros_pkgs/pull/793/files#diff-d966e67ca1b4db645730d08da8e16054 was merged:

http://build.ros2.org/job/Bpr__gazebo_ros_pkgs__ubuntu_bionic_amd64/31/consoleFull

14:12:47 8: [ RUN      ] GazeboRosImuSensorTest.ImuMessageCorrect
14:12:47 8: �[1;32m[Msg] �[0m�[1;32mWaiting for master.�[0m�[1;32m
14:12:47 8: �[0m�[1;32m�[0m�[1;32m[Msg] �[0m�[1;32mConnected to gazebo master @ �[0m�[1;32mhttp://127.0.0.1:11345�[0m�[1;32m
14:12:47 8: �[0m�[1;32m�[0m�[1;32m[Msg] �[0m�[1;32mPublicized address: �[0m�[1;32m172.17.0.2�[0m�[1;32m
14:12:47 8: �[0m�[1;32m�[0m�[1;31m[Err] [RenderEngine.cc:725] �[0m�[1;31mCan't open display: �[0m�[1;31m�[0m�[1;31m
14:12:47 8: �[0m�[1;33m[Wrn] [RenderEngine.cc:93] �[0m�[1;33mUnable to create X window. Rendering will be disabled
14:12:47 8: �[0m�[1;33m[Wrn] [RenderEngine.cc:293] �[0m�[1;33mCannot initialize render engine since �[0m�[1;33mrender path type is NONE. Ignore this warning if�[0m�[1;33mrendering has been turned off on purpose.
14:12:47 8: �[0mALSA lib confmisc.c:767:(parse_card) cannot find card '0'
14:12:47 8: ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
14:12:47 8: ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
14:12:47 8: ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
14:12:47 8: ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
14:12:47 8: ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
14:12:47 8: ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
14:12:47 8: ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
14:12:47 8: AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
14:12:47 8: �[1;31m[Err] [OpenAL.cc:84] �[0m�[1;31mUnable to open audio device[�[0m�[1;31mdefault�[0m�[1;31m]
14:12:47 8:  Audio will be disabled.
14:12:47 8: �[0m�[1;31m[Err] [Sensor.cc:454] �[0m�[1;31mGet noise index not valid�[0m�[1;31m
14:12:47 8: �[0m�[1;31m�[0m�[1;31m[Err] [Sensor.cc:454] �[0m�[1;31mGet noise index not valid�[0m�[1;31m
14:12:47 8: �[0m�[1;31m�[0m�[1;31m[Err] [Sensor.cc:454] �[0m�[1;31mGet noise index not valid�[0m�[1;31m
14:12:47 8: �[0m�[1;31m�[0m�[1;31m[Err] [Sensor.cc:454] �[0m�[1;31mGet noise index not valid�[0m�[1;31m
14:12:47 8: �[0m�[1;31m�[0m�[1;31m[Err] [Sensor.cc:454] �[0m�[1;31mGet noise index not valid�[0m�[1;31m
14:12:47 8: �[0m�[1;31m�[0m�[1;31m[Err] [Sensor.cc:454] �[0m�[1;31mGet noise index not valid�[0m�[1;31m
14:12:48 8: �[0m�[1;31m�[0m�[1;36m[Dbg] [ServerFixture.cc:209] �[0m�[1;36mServerFixture load in �[0m�[1;36m0.3�[0m�[1;36m seconds, timeout after �[0m�[1;36m600�[0m�[1;36m seconds
14:12:48 8: �[0m�[1;36m[Dbg] [ServerFixture.cc:135] �[0m�[1;36mServerFixture::Unload�[0m�[1;36m
14:12:48 8: �[0m�[1;36m�[0m[       OK ] GazeboRosImuSensorTest.ImuMessageCorrect (789 ms)
14:12:48 8: [----------] 1 test from GazeboRosImuSensorTest (789 ms total)

However, I'd imagine this will make the test flaky because it was written assuming no noise. I'll relax the tolerance

[dhood]

I simplified the noise and relaxed the tolerance, so this passes when repeated now. (e.g. with colcon test --event-handlers console_direct+ --packages-select gazebo_plugins --retest-until-fail 100 --ctest-args -R imu)

[chapulina]

Thanks for the tweaks, @dhood !