test: speed up sensors tests with Eigen3

Instead of stepping single steps and computing statistics iteratively we now perform the steps at once, buffer messages, convert values to Eigen matrices and compute statistics via the Eigen api.
ubi-agni · Dec 6, 2024 · a2bdb7b · a2bdb7b
1 parent 4269d55
commit a2bdb7b
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diff --git a/mujoco_ros_sensors/test/CMakeLists.txt b/mujoco_ros_sensors/test/CMakeLists.txt
@@ -1,4 +1,5 @@
 find_package(rostest REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 add_rostest_gtest(mujoco_sensors_test
   launch/mujoco_sensors.test
@@ -12,4 +13,5 @@ add_dependencies(mujoco_sensors_test
 
 target_link_libraries(mujoco_sensors_test
   ${catkin_LIBRARIES}
+  Eigen3::Eigen
 )
diff --git a/mujoco_ros_sensors/test/launch/mujoco_sensors.test b/mujoco_ros_sensors/test/launch/mujoco_sensors.test
@@ -11,5 +11,5 @@
   </rosparam>
 
   <param name="/use_sim_time" value="true"/>
-  <test test-name="mujoco_sensors_test" pkg="mujoco_ros_sensors" type="mujoco_sensors_test" time-limit="120.0" retry="5" />
+  <test test-name="mujoco_sensors_test" pkg="mujoco_ros_sensors" type="mujoco_sensors_test" time-limit="45.0" retry="5" />
 </launch>