Add regression test for gazebosim#3125

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

test/regression/3125_slow_loading_model_spawn.cc

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "gazebo/test/ServerFixture.hh"
+#include "gazebo/physics/physics.hh"
+
+using namespace gazebo;
+
+class Issue3125Test : public ServerFixture
+{
+};
+
+////////////////////////////////////////////////////////////////////////
+TEST_F(Issue3125Test, SlowLoadingModelSpawn)
+{
+  Load("worlds/slow_loading_model_spawn.world", true);
+  physics::WorldPtr world = physics::get_world();
+  ASSERT_NE(world , nullptr);
+
+  // Wait up to 20 seconds for model to spawn
+  const std::string modelName = "slow_loading_model";
+  auto model = world->ModelByName(modelName);
+  int waitIteration = 0;
+  const int maxWaitIterations = 200;
+  while (!model && waitIteration < maxWaitIterations)
+  {
+    common::Time::MSleep(100);
+    model = world->ModelByName(modelName);
+    ++waitIteration;
+  }
+  ASSERT_NE(model, nullptr);
+
+  // Initial pose
+  const ignition::math::Pose3d expectedInitialPose(0, 0, 0.45, 0, 0, 0);
+  EXPECT_EQ(expectedInitialPose, model->WorldPose());
+
+  // Take 1 step and expect an initial velocity from the plugin
+  world->Step(1);
+  const ignition::math::Vector3d expectedInitialLinearVel(-1, -1, 4.9902);
+  const ignition::math::Vector3d expectedInitialAngularVel(0.1, 5.0, 0.1);
+  EXPECT_EQ(expectedInitialLinearVel, model->WorldLinearVel());
+  EXPECT_EQ(expectedInitialAngularVel, model->WorldAngularVel());
+}

test/regression/CMakeLists.txt

@@ -48,6 +48,7 @@ set(tests
   2875_connect_pub_to_sub_crash.cc
   2896_gazebo_subnamespace.cc
   2902_performance_metrics_deadlock.cc
+  3125_slow_loading_model_spawn.cc
 )
 gz_build_tests(${tests} EXTRA_LIBS gazebo_test_fixture)