BENCHMARK_collide_spheres_dt cannot find collide_spheres.world

[mabelzhang]

BENCHMARK_collide_spheres_dt fails with not finding the file, which exists locally:

[Wrn] [SystemPaths.cc:460] File or path does not exist [""] [worlds/collide_spheres.world]
[Err] [Server.cc:493] Could not open file[worlds/collide_spheres.world]
[Wrn] [Server.cc:383] Falling back on worlds/empty.world
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
[Dbg] [ServerFixture.cc:211] ServerFixture load in 1.4 seconds, timeout after 600 seconds
[Err] [PhysicsIface.cc:76] Unable to find world by name in physics::get_world[collide_spheres]
[Err] [PhysicsIface.cc:78] EXCEPTION: Unable to find world by name in physics::get_world(world_name)

unknown file: Failure
Unknown C++ exception thrown in the test body.
[Dbg] [ServerFixture.cc:130] ServerFixture::Unload
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/0, where GetParam() = (0x55cb626f492c pointing to "ode", 0.0001) (1477 ms)

It finds the file after

export GAZEBO_RESOURCE_PATH=/path/to/benchmark

Then there's another error about

[Err] [RTShaderSystem.cc:480] Unable to find shader lib. Shader generating will fail. Your GAZEBO_RESOURCE_PATH is probably improperly set. Have you sourced <prefix>/share/gazebo/setup.bash?

It goes away after

. /usr/share/gazebo/setup.bash

Can the GAZEBO_RESOURCE_PATH be exported in the CMakeLists.txt or somewhere? Or maybe just documenting in README is enough.

After that, 6 of the cases are still failing, but I don't have simbody and dart installed in the Docker image I'm using to test this, could that be why?

[----------] Global test environment tear-down
[==========] 12 tests from 1 test case ran. (10966 ms total)
[  PASSED  ] 6 tests.
[  FAILED  ] 6 tests, listed below:
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/6, where GetParam() = (0x56532838091d pointing to "simbody", 0.0001)
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/7, where GetParam() = (0x56532838091d pointing to "simbody", 0.00055)
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/8, where GetParam() = (0x56532838091d pointing to "simbody", 0.001)
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/9, where GetParam() = (0x565328380918 pointing to "dart", 0.0001)
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/10, where GetParam() = (0x565328380918 pointing to "dart", 0.00055)
[  FAILED  ] EnginesDtSimple/CollideTest.Spheres/11, where GetParam() = (0x565328380918 pointing to "dart", 0.001)

 6 FAILED TESTS

Is it possible to skip the physics engines not installed?

[scpeters]

it looks like the simbody and dart tests failed, but I would need to see more of the log file to figure out why

[mabelzhang]

Full log here: https://pastebin.com/ELShv2Pi

[shivangvijay]

I am facing the same issues. Should I need to install simbody and dart?

[mabelzhang]

Hi @shivangvijay , so it turns out I already had simbody and dart installed. I think we came to the conclusion that the spheres example was unfinished, and to focus on the boxes example for starters! So don't worry about getting the spheres example to run for now.

[shivangvijay]

https://github.com/scpeters/benchmark/blob/74fb82c80a60a1c5cade28bc16c874c05cb737b8/collide_spheres.cc#L140C1-L141C32

I am attempting to solve collide_sphere. Could you please tell me where this '16u' came from? What physics/logic behind it?