Fix tests for RobotDynamicsEstimator library

ami-iit · Feb 25, 2025 · cb496fd · cb496fd
1 parent c15a683
commit cb496fd
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Showing 4 changed files with 24 additions and 8 deletions.
diff --git a/src/Estimators/tests/RobotDynamicsEstimator/AccelerometerMeasurementDynamicsTest.cpp b/src/Estimators/tests/RobotDynamicsEstimator/AccelerometerMeasurementDynamicsTest.cpp
@@ -8,8 +8,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <catch2/generators/catch_generators_all.hpp>
 
-#include <iCubModels/iCubModels.h>
 #include <yarp/os/ResourceFinder.h>
+#include <ResolveRoboticsURICpp.h>
 
 #include <iDynTree/KinDynComputations.h>
 #include <iDynTree/FreeFloatingState.h>
@@ -34,7 +34,11 @@ void createModelLoader(IParametersHandler::shared_ptr group, iDynTree::ModelLoad
     // List of joints and fts to load the model
     std::vector<SubModel> subModelList;
 
-    const std::string modelPath = iCubModels::getModelFile("iCubGenova09");
+    std::optional<std::string> pathTemp = ResolveRoboticsURICpp::resolveRoboticsURI("package://ergoCub/robots/ergoCubSN000/model.urdf");
+    REQUIRE(pathTemp.has_value());
+
+    std::string modelPath = pathTemp.value();
+    BipedalLocomotion::log()->info("Model path {}", modelPath);
 
     std::vector<std::string> jointList;
     REQUIRE(group->getParameter("joint_list", jointList));

diff --git a/src/Estimators/tests/RobotDynamicsEstimator/GyroscopeMeasurementDynamicsTest.cpp b/src/Estimators/tests/RobotDynamicsEstimator/GyroscopeMeasurementDynamicsTest.cpp
@@ -8,7 +8,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <catch2/generators/catch_generators_all.hpp>
 
-#include <iCubModels/iCubModels.h>
+#include <ResolveRoboticsURICpp.h>
 #include <yarp/os/ResourceFinder.h>
 
 #include <iDynTree/KinDynComputations.h>
@@ -34,7 +34,11 @@ void createModelLoader(IParametersHandler::shared_ptr group, iDynTree::ModelLoad
     // List of joints and fts to load the model
     std::vector<SubModel> subModelList;
 
-    const std::string modelPath = iCubModels::getModelFile("iCubGenova09");
+    std::optional<std::string> pathTemp = ResolveRoboticsURICpp::resolveRoboticsURI("package://ergoCub/robots/ergoCubSN000/model.urdf");
+    REQUIRE(pathTemp.has_value());
+
+    std::string modelPath = pathTemp.value();
+    BipedalLocomotion::log()->info("Model path {}", modelPath);
 
     std::vector<std::string> jointList;
     REQUIRE(group->getParameter("joint_list", jointList));

diff --git a/src/Estimators/tests/RobotDynamicsEstimator/JointVelocityStateDynamicsTest.cpp b/src/Estimators/tests/RobotDynamicsEstimator/JointVelocityStateDynamicsTest.cpp
@@ -9,7 +9,7 @@
 #include <catch2/generators/catch_generators_all.hpp>
 #include <chrono>
 
-#include <iCubModels/iCubModels.h>
+#include <ResolveRoboticsURICpp.h>
 #include <yarp/os/ResourceFinder.h>
 
 #include <iDynTree/KinDynComputations.h>
@@ -35,7 +35,11 @@ void createModelLoader(IParametersHandler::shared_ptr group, iDynTree::ModelLoad
     // List of joints and fts to load the model
     std::vector<SubModel> subModelList;
 
-    const std::string modelPath = iCubModels::getModelFile("iCubGenova09");
+    std::optional<std::string> pathTemp = ResolveRoboticsURICpp::resolveRoboticsURI("package://ergoCub/robots/ergoCubSN000/model.urdf");
+    REQUIRE(pathTemp.has_value());
+
+    std::string modelPath = pathTemp.value();
+    BipedalLocomotion::log()->info("Model path {}", modelPath);
 
     std::vector<std::string> jointList;
     REQUIRE(group->getParameter("joint_list", jointList));

diff --git a/src/Estimators/tests/RobotDynamicsEstimator/KinDynWrapperTest.cpp b/src/Estimators/tests/RobotDynamicsEstimator/KinDynWrapperTest.cpp
@@ -8,7 +8,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <catch2/generators/catch_generators_all.hpp>
 
-#include <iCubModels/iCubModels.h>
+#include <ResolveRoboticsURICpp.h>
 #include <yarp/os/ResourceFinder.h>
 
 #include <iDynTree/KinDynComputations.h>
@@ -35,7 +35,11 @@ void createModelLoader(IParametersHandler::shared_ptr group, iDynTree::ModelLoad
     // List of joints and fts to load the model
     std::vector<SubModel> subModelList;
 
-    const std::string modelPath = iCubModels::getModelFile("iCubGenova09");
+    std::optional<std::string> pathTemp = ResolveRoboticsURICpp::resolveRoboticsURI("package://ergoCub/robots/ergoCubSN000/model.urdf");
+    REQUIRE(pathTemp.has_value());
+
+    std::string modelPath = pathTemp.value();
+    BipedalLocomotion::log()->info("Model path {}", modelPath);
 
     std::vector<std::string> jointList;
     REQUIRE(group->getParameter("joint_list", jointList));