Revert diff_drive test changes from #314 (#410)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Oct 21, 2020 · 0ab6d35 · 0ab6d35
1 parent 75aed3e
commit 0ab6d35
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/Changelog.md b/Changelog.md
@@ -192,10 +192,6 @@
 1. Support spawning during log playback.
     * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346)
 
-1. Added wheel slip system plugin.
-    * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
-    * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357)
-
 1. Add Render Engine Cmd Line option
     * [Pull Request 331](https://github.com/ignitionrobotics/ign-gazebo/pull/331)
 

diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc
@@ -280,8 +280,8 @@ TEST_P(DiffDriveTest, SkidPublishCmd)
   node.Subscribe("/model/vehicle/odometry", odomCb);
 
   msgs::Twist msg;
-  msgs::Set(msg.mutable_linear(), math::Vector3d(2.0, 0, 0));
-  msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 2.0));
+  msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0));
+  msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2));
 
   pub.Publish(msg);
 
@@ -294,7 +294,7 @@ TEST_P(DiffDriveTest, SkidPublishCmd)
   int maxSleep = 30;
   for (; odomPoses.size() < 3 && sleep < maxSleep; ++sleep)
   {
-    std::this_thread::sleep_for(std::chrono::milliseconds(200));
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
   }
   EXPECT_NE(maxSleep, sleep);