Adds plugins for sensor topic

Signed-off-by: Voldivh <eloyabmfcv@gmail.com>
gazebosim · Aug 18, 2023 · d17a53d · d17a53d
1 parent 4a8b23f
commit d17a53d
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/python/test/joint_test.sdf b/python/test/joint_test.sdf
@@ -1,6 +1,8 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
     <world name="world_test">
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics" />
+    <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque" />
         <model name="model_test">
 
             <link name="link_test_1">

diff --git a/python/test/sensor_TEST.py b/python/test/sensor_TEST.py
@@ -53,9 +53,10 @@ def on_pre_udpate_cb(_info, _ecm):
             # Pose Test
             self.assertEqual(Pose3d(0, 1, 0, 0, 0, 0), sensor.pose(_ecm))
             # Topic Test
-            # This is None because the entity does not have a
-            # components::SensorTopic component.
-            self.assertEqual(None, sensor.topic(_ecm))
+            if self.pre_iterations <= 1:
+                self.assertEqual(None, sensor.topic(_ecm))
+            else:
+                self.assertEqual('sensor_topic_test', sensor.topic(_ecm))
             # Parent Test
             self.assertEqual(j.entity(), sensor.parent(_ecm))