INTEGRATION_entity_system fails with dartsim 6.19.1

[scpeters]

Environment

• OS Version: macOS
• Source or binary build? source build of multiple branches, including main and gz-sim10

Description

• Expected behavior: INTEGRATION_entity_system should pass
• Actual behavior: INTEGRATION_entity_system fails with dartsim 6.19.1

Steps to reproduce

1. Build dartsim 6.18.0 from source
2. Build gz-physics and gz-sim from Harmonic, Ionic, Jetty, or Rotary
3. Run INTEGRATION_entity_system test and observe test passes
4. Rebuild dartsim with version 6.19.1 from source
5. Rebuild gz-physics, gz-sim
6. Run INTEGRATION_entity_system test and observe failure

Note that I have confirmed this through manual testing. Note also that different tests fail with 6.19.0 (see gazebosim/gz-physics#1007)

I will open a pull request with a mitigation for the test failure, but will leave this issue open until the underlying issue is understood.

Output

Passing tests with dartsim 6.18.0

• Harmonic 1a6ceaf https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-homebrew-arm64/94

Failing test with dartsim 6.19.1

• Harmonic d57aa31 https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-homebrew-arm64/96/

127: [ RUN      ] ServerRepeat/EntitySystemTest.PublishCmd/0
127: �[1;32m[Msg] �[0m�[1;32mLoading SDF world file[�[0m�[1;32m/Users/jenkins/jenkins-agent/workspace/gz_sim-ci-gz-sim8-homebrew-arm64/gz-sim/test/worlds/diff_drive_no_plugin.sdf�[0m�[1;32m].�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing entity system service on [�[0m�[1;32m/�[0m�[1;32mentity/system/add�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;36m[Dbg] [Physics.cc:945] �[0m�[1;36mLoaded [�[0m�[1;36mgz::physics::dartsim::Plugin�[0m�[1;36m] from library [�[0m�[1;36m/opt/homebrew/Cellar/gz-physics7/7.8.0_3/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.dylib�[0m�[1;36m]�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SystemManager.cc:80] �[0m�[1;36mLoaded system [�[0m�[1;36mgz::sim::systems::Physics�[0m�[1;36m] for entity [�[0m�[1;36m1�[0m�[1;36m]�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SystemManager.cc:80] �[0m�[1;36mLoaded system [�[0m�[1;36mgz::sim::systems::SceneBroadcaster�[0m�[1;36m] for entity [�[0m�[1;36m1�[0m�[1;36m]�[0m�[1;36m�[0m
127: �[1;32m[Msg] �[0m�[1;32mLoaded level [�[0m�[1;32mdefault�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing world controls on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/control], [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/control/state] and [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/playback/control]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing GUI information on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mgui/info�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mWorld [�[0m�[1;32mdiff_drive�[0m�[1;32m] initialized with [�[0m�[1;32m1ms�[0m�[1;32m] physics profile.�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing world SDF generation service on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mgenerate_world_sdf�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing world names on [�[0m�[1;32m/gazebo/worlds�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mResource path add service on [�[0m�[1;32m/gazebo/resource_paths/add�[0m�[1;32m].�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mResource path get service on [�[0m�[1;32m/gazebo/resource_paths/get�[0m�[1;32m].�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mResource path resolve service on [�[0m�[1;32m/gazebo/resource_paths/resolve�[0m�[1;32m].�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mResource paths published on [�[0m�[1;32m/gazebo/resource_paths�[0m�[1;32m].�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServer control service on [�[0m�[1;32m/server_control�[0m�[1;32m].�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mFound no publishers on /stats, adding root stats topic�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mFound no publishers on /clock, adding root clock topic�[0m�[1;32m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:624] �[0m�[1;36mCreating PostUpdate worker threads: �[0m�[1;36m3�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:635] �[0m�[1;36mCreating postupdate worker thread (�[0m�[1;36m0�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:635] �[0m�[1;36mCreating postupdate worker thread (�[0m�[1;36m1�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing scene information on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mscene/info�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing graph information on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mscene/graph�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing full state on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mstate�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mServing full state (async) on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mstate_async�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mPublishing scene information on [�[0m�[1;32m/world/diff_drive/scene/info�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mPublishing entity deletions on [�[0m�[1;32m/world/diff_drive/scene/deletion�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mPublishing state changes on [�[0m�[1;32m/world/diff_drive/state�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mPublishing pose messages on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mpose/info�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mPublishing dynamic pose messages on [�[0m�[1;32m/world/diff_drive�[0m�[1;32m/�[0m�[1;32mdynamic_pose/info�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;32m[Msg] �[0m�[1;32mDiffDrive subscribing to twist messages on [�[0m�[1;32m/model/vehicle/cmd_vel�[0m�[1;32m]�[0m�[1;32m�[0m
127: �[1;36m[Dbg] [SystemManager.cc:80] �[0m�[1;36mLoaded system [�[0m�[1;36mgz::sim::systems::DiffDrive�[0m�[1;36m] for entity [�[0m�[1;36m8�[0m�[1;36m]�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:651] �[0m�[1;36mExiting postupdate worker thread (�[0m�[1;36m0�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:651] �[0m�[1;36mExiting postupdate worker thread (�[0m�[1;36m1�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:624] �[0m�[1;36mCreating PostUpdate worker threads: �[0m�[1;36m4�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:635] �[0m�[1;36mCreating postupdate worker thread (�[0m�[1;36m0�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:635] �[0m�[1;36mCreating postupdate worker thread (�[0m�[1;36m1�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:635] �[0m�[1;36mCreating postupdate worker thread (�[0m�[1;36m2�[0m�[1;36m)�[0m�[1;36m�[0m
127: /Users/jenkins/jenkins-agent/workspace/gz_sim-ci-gz-sim8-homebrew-arm64/gz-sim/test/integration/entity_system.cc:152: Failure
127: Expected: (poses[i].Pos().X()) > (poses[i-1].Pos().X()), actual: 1.71197e-07 vs 1.71197e-07
127: �[1;36m[Dbg] [SimulationRunner.cc:651] �[0m�[1;36mExiting postupdate worker thread (�[0m�[1;36m0�[0m�[1;36m)�[0m�[1;36m
127: [Dbg] [SimulationRunner.cc:651] �[0m�[1;36mExiting postupdate worker thread (�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:651] 1�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36mExiting postupdate worker thread (�[0m�[1;36m2�[0m�[1;36m)�[0m�[1;36m�[0m
127: �[1;36m[Dbg] [SimulationRunner.cc:651] �[0m
127: [  FAILED  ] ServerRepeat/EntitySystemTest.PublishCmd/0, where GetParam() = 1 (2181 ms)

[scpeters]

workaround in #3701

FYI @jslee02