Avoid using iCubGazeboV3 in baseEstimatorFromFootIMU

ami-iit · Jan 13, 2025 · a9df589 · a9df589
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,7 @@ All notable changes to this project are documented in this file.
 - Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
 - Removed ROS1 device publisher and the corresponding example (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
 ### Fixed
+- Avoid using ``iCubGazeboV3`` model in ``BaseEstimatorFromFootIMU`` test (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
 
 ## [0.20.0] - 2024-12-16
 ### Added

diff --git a/src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp b/src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp
@@ -51,7 +51,7 @@ TEST_CASE("BaseEstimatorFromFootIMU")
     REQUIRE(populateConfig(parameterHandler, footFrameName));
 
     // Load the reduced iDynTree model to be passed to the estimator
-    const std::string model_path = iCubModels::getModelFile("iCubGazeboV3");
+    const std::string model_path = iCubModels::getModelFile("iCubGazeboV2_5");
     std::vector<std::string> joints_list
         = {"neck_pitch",     "neck_roll",   "neck_yaw",         "torso_pitch",
            "torso_roll",     "torso_yaw",   "l_shoulder_pitch", "l_shoulder_roll",