diff --git a/test/integration/gpu_rays.cc b/test/integration/gpu_rays.cc
index f0774b941..c2b2da25b 100644
--- a/test/integration/gpu_rays.cc
+++ b/test/integration/gpu_rays.cc
@@ -291,13 +291,13 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
   // rays caster 1 should see box01 and box02
   EXPECT_NEAR(scan[mid], expectedRangeAtMidPointBox1, LASER_TOL);
   EXPECT_NEAR(scan[0], expectedRangeAtMidPointBox2, LASER_TOL);
-  EXPECT_DOUBLE_EQ(scan[last], ignition::math::INF_D);
+  EXPECT_FLOAT_EQ(scan[last], ignition::math::INF_F);
 
   // rays cater should see box01 with laser retro value set to laserRetro1
   // and box02 with laser retro value set to laserRetro2
   EXPECT_NEAR(scan[mid+1], laserRetro1, 5.0);
   EXPECT_NEAR(scan[0+1], laserRetro2, 5.0);
-  EXPECT_DOUBLE_EQ(scan[last+1], 0.0);
+  EXPECT_FLOAT_EQ(scan[last+1], 0.0);
 
   // Verify rays caster 2 range readings
   // listen to new gpu rays frames
@@ -308,9 +308,9 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
   gpuRays2->Copy(scan2);
 
   // Only box01 should be visible to rays caster 2
-  EXPECT_DOUBLE_EQ(scan2[0], maxRange);
+  EXPECT_FLOAT_EQ(scan2[0], maxRange);
   EXPECT_NEAR(scan2[mid], expectedRangeAtMidPointBox1, LASER_TOL);
-  EXPECT_DOUBLE_EQ(scan2[last], maxRange);
+  EXPECT_FLOAT_EQ(scan2[last], maxRange);
 
   // Move all boxes out of range
   visualBox1->SetWorldPosition(
@@ -325,10 +325,10 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
   gpuRays2->Copy(scan2);
 
   for (int i = 0; i < gpuRays->RayCount(); ++i)
-    EXPECT_DOUBLE_EQ(scan[i * 3], ignition::math::INF_D);
+    EXPECT_FLOAT_EQ(scan[i * 3], ignition::math::INF_F);
 
   for (int i = 0; i < gpuRays2->RayCount(); ++i)
-    EXPECT_DOUBLE_EQ(scan2[i * 3], maxRange);
+    EXPECT_FLOAT_EQ(scan2[i * 3], maxRange);
 
   c.reset();
 
@@ -442,10 +442,10 @@ void GpuRaysTest::LaserVertical(const std::string &_renderEngine)
     angleStep += vAngleStep;
 
     // check that the values in the extremes are infinity
-    EXPECT_DOUBLE_EQ(scan[i * hRayCount * channels],
-        ignition::math::INF_D);
-    EXPECT_DOUBLE_EQ(scan[(i * hRayCount + (hRayCount - 1)) * channels],
-        ignition::math::INF_D);
+    EXPECT_FLOAT_EQ(scan[i * hRayCount * channels],
+        ignition::math::INF_F);
+    EXPECT_FLOAT_EQ(scan[(i * hRayCount + (hRayCount - 1)) * channels],
+        ignition::math::INF_F);
   }
 
   // Move box out of range
@@ -461,8 +461,8 @@ void GpuRaysTest::LaserVertical(const std::string &_renderEngine)
   {
     for (int i = 0; i < gpuRays->RayCount(); ++i)
     {
-      EXPECT_DOUBLE_EQ(scan[j * gpuRays->RayCount() * channels+ i * channels],
-          ignition::math::INF_D);
+      EXPECT_FLOAT_EQ(scan[j * gpuRays->RayCount() * channels+ i * channels],
+          ignition::math::INF_F);
     }
   }
 
@@ -629,7 +629,7 @@ void GpuRaysTest::RaysParticles(const std::string &_renderEngine)
     EXPECT_NEAR(expectedRangeAtMidPointBox2, scan[0], LASER_TOL);
 
     // sensor should not see box03 as it is out of range
-    EXPECT_DOUBLE_EQ(ignition::math::INF_D, scan[last]);
+    EXPECT_DOUBLE_EQ(ignition::math::INF_F, scan[last]);
   }
 
   // there should be at least one hit
@@ -667,7 +667,7 @@ void GpuRaysTest::RaysParticles(const std::string &_renderEngine)
     EXPECT_NEAR(expectedRangeAtMidPointBox2, scan[0], LASER_TOL);
 
     // sensor should not see box03 as it is out of range
-    EXPECT_DOUBLE_EQ(ignition::math::INF_D, scan[last]);
+    EXPECT_DOUBLE_EQ(ignition::math::INF_F, scan[last]);
   }
 
   // there should be at least one hit
diff --git a/test/integration/lidar_visual.cc b/test/integration/lidar_visual.cc
index 713c31dab..cc55a9470 100644
--- a/test/integration/lidar_visual.cc
+++ b/test/integration/lidar_visual.cc
@@ -100,22 +100,22 @@ void LidarVisualTest::Configure(const std::string &_renderEngine)
   // The following tests all the getters and setters
   {
     lidarVis->SetMinVerticalAngle(0.1);
-    EXPECT_NEAR(lidarVis->MinVerticalAngle(), 0.1, 1e-6);
+    EXPECT_DOUBLE_EQ(lidarVis->MinVerticalAngle(), 0.1);
 
     lidarVis->SetMaxVerticalAngle(251.20);
-    EXPECT_NEAR(lidarVis->MaxVerticalAngle(), 251.20, 1e-6);
+    EXPECT_DOUBLE_EQ(lidarVis->MaxVerticalAngle(), 251.20);
 
     lidarVis->SetMinRange(0.05);
-    EXPECT_NEAR(lidarVis->MinRange(), 0.05, 1e-6);
+    EXPECT_DOUBLE_EQ(lidarVis->MinRange(), 0.05);
 
     lidarVis->SetMaxRange(105.20);
-    EXPECT_NEAR(lidarVis->MaxRange(), 105.20, 1e-6);
+    EXPECT_DOUBLE_EQ(lidarVis->MaxRange(), 105.20);
 
-    lidarVis->SetMinHorizontalAngle(-1.513);
-    EXPECT_NEAR(lidarVis->MinHorizontalAngle(), -1.513, 1e-6);
+    lidarVis->SetMinHorizontalAngle(-1.5136);
+    EXPECT_DOUBLE_EQ(lidarVis->MinHorizontalAngle(), -1.5136);
 
     lidarVis->SetMaxHorizontalAngle(2.513);
-    EXPECT_NEAR(lidarVis->MaxHorizontalAngle(), 2.513, 1e-6);
+    EXPECT_DOUBLE_EQ(lidarVis->MaxHorizontalAngle(), 2.513);
 
     lidarVis->SetHorizontalRayCount(360);
     EXPECT_EQ(lidarVis->HorizontalRayCount(), 360u);
@@ -319,7 +319,7 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
   // rays caster values received from lidar should see box01 and box02
   EXPECT_NEAR(pts_back[mid], expectedRangeAtMidPointBox1, LASER_TOL);
   EXPECT_NEAR(pts_back[0], expectedRangeAtMidPointBox2, LASER_TOL);
-  EXPECT_DOUBLE_EQ(pts_back[last], ignition::math::INF_D);
+  EXPECT_FLOAT_EQ(pts_back[last], ignition::math::INF_F);
 
   // Verify rays caster 2 range readings
   // listen to new gpu rays frames
@@ -343,9 +343,9 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
   std::vector<double> pts_back2 = lidarVis2->Points();
 
   // Only box01 should be visible to rays caster 2
-  EXPECT_DOUBLE_EQ(pts_back2[0], maxRange);
+  EXPECT_FLOAT_EQ(pts_back2[0], maxRange);
   EXPECT_NEAR(pts_back2[mid], expectedRangeAtMidPointBox1, LASER_TOL);
-  EXPECT_DOUBLE_EQ(pts_back2[last], maxRange);
+  EXPECT_FLOAT_EQ(pts_back2[last], maxRange);
 
   // Move all boxes out of range
   visualBox1->SetWorldPosition(
@@ -378,10 +378,10 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
   }
 
   for (unsigned int i = 0; i < lidarVis->HorizontalRayCount(); ++i)
-    EXPECT_DOUBLE_EQ(pts[i], ignition::math::INF_D);
+    EXPECT_FLOAT_EQ(pts[i], ignition::math::INF_F);
 
   for (unsigned int i = 0; i < lidarVis->HorizontalRayCount(); ++i)
-    EXPECT_DOUBLE_EQ(pts2[i], maxRange);
+    EXPECT_FLOAT_EQ(pts2[i], maxRange);
 
   c.reset();
 
@@ -518,10 +518,10 @@ void LidarVisualTest::LaserVertical(const std::string &_renderEngine)
     angleStep += vAngleStep;
 
     // check that the values in the extremes are infinity
-    EXPECT_DOUBLE_EQ(pts[i * hRayCount ],
-        ignition::math::INF_D);
-    EXPECT_DOUBLE_EQ(pts[(i * hRayCount + (hRayCount - 1))],
-        ignition::math::INF_D);
+    EXPECT_FLOAT_EQ(pts[i * hRayCount ],
+        ignition::math::INF_F);
+    EXPECT_FLOAT_EQ(pts[(i * hRayCount + (hRayCount - 1))],
+        ignition::math::INF_F);
   }
 
   // Move box out of range
@@ -548,8 +548,8 @@ void LidarVisualTest::LaserVertical(const std::string &_renderEngine)
   {
     for (unsigned int i = 0; i < lidarVis->HorizontalRayCount(); ++i)
     {
-      EXPECT_DOUBLE_EQ(pts[j * lidarVis->HorizontalRayCount()+ i],
-          ignition::math::INF_D);
+      EXPECT_FLOAT_EQ(pts[j * lidarVis->HorizontalRayCount()+ i],
+          ignition::math::INF_F);
     }
   }