🧑🌾 ApplyLinkWrenchTestFixture.InstantaneousFromTopic failing in Main #3033
Description
Environment
- OS Version: Ubuntu noble
- Source main build
Description
- Expected behavior: Tests should pass
- Actual behavior: ApplyLinkWrench test is failing
Steps to reproduce
- Run a build in https://build.osrfoundation.org/job/gz_sim-ci-main-noble-amd64/
- See test regressions
Output
Reference build: https://build.osrfoundation.org/job/gz_sim-ci-main-noble-amd64/147/
Test regressions:
Failure:
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:285
Expected: (nullptr) != (wrenchComp3), actual: (nullptr) vs NULL
Started happened after the forward port #3030
Full log output
[ RUN ] ApplyLinkWrenchTestFixture.InstantaneousFromTopic
(2025-08-15 08:22:10.048) [info] [ServerPrivate.cc:662] Loading SDF world file[/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/worlds/apply_link_wrench.sdf].
(2025-08-15 08:22:10.106) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-08-15 08:22:10.119) [debug] [Physics.cc:960] Loaded [gz::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/gz-physics-9/engine-plugins/libgz-physics-dartsim-plugin.so]
(2025-08-15 08:22:10.119) [debug] [SystemManager.cc:80] Loaded system [gz::sim::systems::Physics] for entity [1]
(2025-08-15 08:22:10.119) [debug] [ApplyLinkWrench.cc:344] Queueing persistent wrench:
entity {
name: "model1"
type: MODEL
}
wrench {
force {
x: 50
}
torque {
z: 0.5
}
}
(2025-08-15 08:22:10.119) [debug] [ApplyLinkWrench.cc:344] Queueing persistent wrench:
entity {
name: "model2::link"
type: LINK
}
wrench {
force {
x: -100
}
torque {
z: -1
}
}
(2025-08-15 08:22:10.119) [info] [ApplyLinkWrench.cc:206] Listening to instantaneous wrench commands in [/world/apply_link_wrench/wrench]
(2025-08-15 08:22:10.119) [info] [ApplyLinkWrench.cc:217] Listening to persistent wrench commands in [/world/apply_link_wrench/wrench/persistent]
(2025-08-15 08:22:10.119) [info] [ApplyLinkWrench.cc:228] Listening to wrench clear commands in [/world/apply_link_wrench/wrench/clear]
(2025-08-15 08:22:10.119) [debug] [SystemManager.cc:80] Loaded system [gz::sim::systems::ApplyLinkWrench] for entity [1]
(2025-08-15 08:22:10.120) [info] [LevelManager.cc:646] Loaded level [default]
(2025-08-15 08:22:10.120) [debug] [ServerConfig.cc:1025] Loading (3) plugins from file [/tmp/test/fake_home/.gz/sim/10/server.config]
(2025-08-15 08:22:10.120) [debug] [SimulationRunner.cc:1658] Additional plugins to load:
(2025-08-15 08:22:10.120) [debug] [SimulationRunner.cc:1661] gz::sim::systems::UserCommands gz-sim-user-commands-system
(2025-08-15 08:22:10.120) [debug] [SimulationRunner.cc:1661] gz::sim::systems::SceneBroadcaster gz-sim-scene-broadcaster-system
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:664] Create service on [/world/apply_link_wrench/create]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:671] Remove service on [/world/apply_link_wrench/remove]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:678] Pose service on [/world/apply_link_wrench/set_pose]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:686] Pose service on [/world/apply_link_wrench/set_pose_vector]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:693] Light configuration service on [/world/apply_link_wrench/light_config]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:719] Physics service on [/world/apply_link_wrench/set_physics]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/apply_link_wrench/set_spherical_coordinates]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:736] Enable collision service on [/world/apply_link_wrench/enable_collision]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:745] Disable collision service on [/world/apply_link_wrench/disable_collision]
(2025-08-15 08:22:10.121) [info] [UserCommands.cc:754] Material service on [/world/apply_link_wrench/visual_config]
(2025-08-15 08:22:10.122) [info] [UserCommands.cc:762] Material service on [/world/apply_link_wrench/wheel_slip]
(2025-08-15 08:22:10.122) [debug] [SystemManager.cc:80] Loaded system [gz::sim::systems::UserCommands] for entity [1]
(2025-08-15 08:22:10.122) [debug] [SystemManager.cc:80] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
(2025-08-15 08:22:10.122) [info] [SimulationRunner.cc:273] Serving world controls on [/world/apply_link_wrench/control], [/world/apply_link_wrench/control/state] and [/world/apply_link_wrench/playback/control]
(2025-08-15 08:22:10.122) [info] [SimulationRunner.cc:299] Serving GUI information on [/world/apply_link_wrench/gui/info]
(2025-08-15 08:22:10.122) [info] [SimulationRunner.cc:302] World [apply_link_wrench] initialized with [default_physics] physics profile.
(2025-08-15 08:22:10.122) [info] [SimulationRunner.cc:309] Serving world SDF generation service on [/world/apply_link_wrench/generate_world_sdf]
(2025-08-15 08:22:10.122) [info] [ServerPrivate.cc:342] Serving world names on [/gazebo/worlds]
(2025-08-15 08:22:10.122) [info] [ServerPrivate.cc:355] Resource path add service on [/gazebo/resource_paths/add].
(2025-08-15 08:22:10.123) [info] [ServerPrivate.cc:368] Resource path get service on [/gazebo/resource_paths/get].
(2025-08-15 08:22:10.123) [info] [ServerPrivate.cc:383] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-08-15 08:22:10.123) [info] [ServerPrivate.cc:397] Resource paths published on [/gazebo/resource_paths].
(2025-08-15 08:22:10.123) [info] [ServerPrivate.cc:410] Server control service on [/server_control].
(2025-08-15 08:22:10.123) [info] [SimulationRunner.cc:756] Found no publishers on /stats, adding root stats topic
(2025-08-15 08:22:10.123) [info] [SimulationRunner.cc:790] Found no publishers on /clock, adding root clock topic
(2025-08-15 08:22:10.123) [debug] [SimulationRunner.cc:555] Creating PostUpdate worker threads: 3
(2025-08-15 08:22:10.123) [debug] [SimulationRunner.cc:566] Creating postupdate worker thread (0)
(2025-08-15 08:22:10.123) [debug] [SimulationRunner.cc:566] Creating postupdate worker thread (1)
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:285: Failure
Expected: (nullptr) != (wrenchComp3), actual: (nullptr) vs NULL
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:289: Failure
Expected: (nullptr) != (wrenchComp4), actual: (nullptr) vs NULL
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:299: Failure
The difference between 50.0 and linAccel3.value().X() is 50, which exceeds 10e-4, where
50.0 evaluates to 50,
linAccel3.value().X() evaluates to 0, and
10e-4 evaluates to 0.001.
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:300: Failure
The difference between -100.0 and linAccel4.value().X() is 100, which exceeds 10e-4, where
-100.0 evaluates to -100,
linAccel4.value().X() evaluates to 0, and
10e-4 evaluates to 0.001.
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/apply_link_wrench/scene/info]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/apply_link_wrench/scene/graph]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/apply_link_wrench/state]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/apply_link_wrench/state_async]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/apply_link_wrench/scene/info]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/apply_link_wrench/scene/deletion]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/apply_link_wrench/state]
(2025-08-15 08:22:10.126) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/apply_link_wrench/pose/info]
(2025-08-15 08:22:10.127) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/apply_link_wrench/dynamic_pose/info]
(2025-08-15 08:22:10.127) [debug] [ApplyLinkWrench.cc:290] Applying wrench [50 0 0 0 0 0.5] with force offset [0 0 0] to entity [11] for 1 time step.
(2025-08-15 08:22:10.127) [debug] [ApplyLinkWrench.cc:290] Applying wrench [-100 0 0 0 0 -1] with force offset [0 0 0] to entity [14] for 1 time step.
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:306: Failure
The difference between 0.0 and linAccel3.value().X() is 49.999999999999993, which exceeds 10e-4, where
0.0 evaluates to 0,
linAccel3.value().X() evaluates to 49.999999999999993, and
10e-4 evaluates to 0.001.
/home/jenkins/workspace/gz_sim-ci-main-noble-amd64/gz-sim/test/integration/apply_link_wrench_system.cc:307: Failure
The difference between 0.0 and linAccel4.value().X() is 99.999999999999986, which exceeds 10e-4, where
0.0 evaluates to 0,
linAccel4.value().X() evaluates to -99.999999999999986, and
10e-4 evaluates to 0.001.
(2025-08-15 08:22:10.149) [debug] [SimulationRunner.cc:582] Exiting postupdate worker thread (0)
(2025-08-15 08:22:10.149) [debug] [SimulationRunner.cc:582] Exiting postupdate worker thread (1)
[ FAILED ] ApplyLinkWrenchTestFixture.InstantaneousFromTopic (117 ms)