Improve coverage

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Nov 3, 2022 · 985f38a · 985f38a
1 parent 6580927
commit 985f38a
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diff --git a/test/integration/urdf_gazebo_extensions.cc b/test/integration/urdf_gazebo_extensions.cc
@@ -39,6 +39,10 @@ TEST(SDFParser, UrdfGazeboExtensionURDFTest)
 
   auto modelDom = root.ModelByIndex(0);
   ASSERT_NE(nullptr, modelDom);
+
+  // Verify that model is not static
+  EXPECT_FALSE(modelDom->Static());
+
   sdf::ElementPtr model = modelDom->Element();
   for (sdf::ElementPtr joint = model->GetElement("joint"); joint;
        joint = joint->GetNextElement("joint"))
@@ -398,6 +402,7 @@ TEST(SDFParser, FixedJointSimple)
   auto model = root.ModelByIndex(0);
   ASSERT_NE(nullptr, model);
   EXPECT_EQ("fixed_joint_simple", model->Name());
+  EXPECT_FALSE(model->Static());
 
   EXPECT_EQ(1u, model->LinkCount());
   EXPECT_TRUE(model->LinkNameExists("base"));

diff --git a/test/integration/urdf_gazebo_extensions.urdf b/test/integration/urdf_gazebo_extensions.urdf
@@ -1,6 +1,11 @@
 <?xml version="1.0" ?>
 <robot name="urdf_gazebo_extension_test">
 
+  <gazebo>
+    <!-- Explicitly declare that model is not static. -->
+    <static>0</static>
+  </gazebo>
+
   <link name="world"/>
 
   <joint name="jointw0" type="continuous">