From 8da66b27f79c7dee8e69b1ad6158d7e6e4aa7587 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Fri, 9 Oct 2026 13:53:33 +0900
Subject: [PATCH 1/2] fix: keep DVL water-mass layers within declared sensor
 ranges

---
 models/posim_sensor_models/CMakeLists.txt     |  5 +++
 .../description/nortek_dvl1000_300/model.sdf  |  2 +-
 .../teledyne_explorer1000/model.sdf           |  2 +-
 .../teledyne_explorer4000/model.sdf           |  2 +-
 .../description/teledyne_whn/model.sdf        |  2 +-
 models/posim_sensor_models/package.xml        |  1 +
 .../test/test_dvl_tracking_bounds.py          | 34 +++++++++++++++++++
 7 files changed, 44 insertions(+), 4 deletions(-)
 create mode 100644 models/posim_sensor_models/test/test_dvl_tracking_bounds.py

diff --git a/models/posim_sensor_models/CMakeLists.txt b/models/posim_sensor_models/CMakeLists.txt
index 0a76e60b..38c35e24 100644
--- a/models/posim_sensor_models/CMakeLists.txt
+++ b/models/posim_sensor_models/CMakeLists.txt
@@ -11,4 +11,9 @@ install(
 ament_environment_hooks(
   "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(test_dvl_tracking_bounds test/test_dvl_tracking_bounds.py)
+endif()
+
 ament_package()
diff --git a/models/posim_sensor_models/description/nortek_dvl1000_300/model.sdf b/models/posim_sensor_models/description/nortek_dvl1000_300/model.sdf
index acfa0fab..c8ec07da 100644
--- a/models/posim_sensor_models/description/nortek_dvl1000_300/model.sdf
+++ b/models/posim_sensor_models/description/nortek_dvl1000_300/model.sdf
@@ -60,7 +60,7 @@
               </water_velocity>
               <boundaries>
                 <near>10.</near>
-                <far>100.</far>
+                <far>75.</far>
               </boundaries>
               <bins>10</bins>
               <noise type="gaussian">
diff --git a/models/posim_sensor_models/description/teledyne_explorer1000/model.sdf b/models/posim_sensor_models/description/teledyne_explorer1000/model.sdf
index 41d78e88..35838def 100644
--- a/models/posim_sensor_models/description/teledyne_explorer1000/model.sdf
+++ b/models/posim_sensor_models/description/teledyne_explorer1000/model.sdf
@@ -59,7 +59,7 @@
               </water_velocity>
               <boundaries>
                 <near>10.</near>
-                <far>100.</far>
+                <far>81.</far>
               </boundaries>
               <bins>10</bins>
               <noise type="gaussian">
diff --git a/models/posim_sensor_models/description/teledyne_explorer4000/model.sdf b/models/posim_sensor_models/description/teledyne_explorer4000/model.sdf
index 7e8a1aba..d5689603 100644
--- a/models/posim_sensor_models/description/teledyne_explorer4000/model.sdf
+++ b/models/posim_sensor_models/description/teledyne_explorer4000/model.sdf
@@ -60,7 +60,7 @@
               </water_velocity>
               <boundaries>
                 <near>10.</near>
-                <far>100.</far>
+                <far>66.</far>
               </boundaries>
               <bins>10</bins>
               <noise type="gaussian">
diff --git a/models/posim_sensor_models/description/teledyne_whn/model.sdf b/models/posim_sensor_models/description/teledyne_whn/model.sdf
index fe09b26b..b51a5632 100644
--- a/models/posim_sensor_models/description/teledyne_whn/model.sdf
+++ b/models/posim_sensor_models/description/teledyne_whn/model.sdf
@@ -61,7 +61,7 @@
               </water_velocity>
               <boundaries>
                 <near>10.</near>
-                <far>100.</far>
+                <far>90.</far>
               </boundaries>
               <bins>10</bins>
               <noise type="gaussian">
diff --git a/models/posim_sensor_models/package.xml b/models/posim_sensor_models/package.xml
index 34f6d89d..982f4227 100644
--- a/models/posim_sensor_models/package.xml
+++ b/models/posim_sensor_models/package.xml
@@ -8,6 +8,7 @@
   <maintainer email="kys50728@g.kmou.ac.kr">Ye-Seol Kwon</maintainer>
   <license>Apache 2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
   <export>
     <build_type>ament_cmake</build_type>
     <!-- This doesn't work yet https://github.com/gazebosim/ros_gz/pull/492 -->
diff --git a/models/posim_sensor_models/test/test_dvl_tracking_bounds.py b/models/posim_sensor_models/test/test_dvl_tracking_bounds.py
new file mode 100644
index 00000000..eafce323
--- /dev/null
+++ b/models/posim_sensor_models/test/test_dvl_tracking_bounds.py
@@ -0,0 +1,34 @@
+"""Catch DVL configurations rejected by Gazebo before publication starts."""
+
+from pathlib import Path
+import re
+import xml.etree.ElementTree as ET
+
+import pytest
+
+DESCRIPTION = Path(__file__).resolve().parents[1] / "description"
+DVL_MODELS = [p for p in sorted(DESCRIPTION.glob("*/model.sdf")) if "<gz:dvl>" in p.read_text()]
+
+
+def test_dvl_catalog_is_present():
+    assert DVL_MODELS, "No DVL descriptors found; check the test resource path"
+
+
+@pytest.mark.parametrize("path", DVL_MODELS, ids=lambda p: p.parent.name)
+def test_water_mass_layer_fits_sensor_range(path):
+    # SDF accepts the gz extension without an XML namespace declaration.
+    text = re.sub(r"<sdf\b", '<sdf xmlns:gz="urn:gz"', path.read_text(), count=1)
+    root = ET.fromstring(text)
+    for dvl in root.iter("{urn:gz}dvl"):
+        minimum = float(dvl.findtext("minimum_range"))
+        maximum = float(dvl.findtext("maximum_range"))
+        assert 0 <= minimum < maximum
+        mode = dvl.find("tracking/water_mass_mode")
+        if mode is None or mode.findtext("when") == "never":
+            continue
+        near = float(mode.findtext("boundaries/near", str(0.2 * maximum)))
+        far = float(mode.findtext("boundaries/far", str(0.8 * maximum)))
+        assert minimum <= near < far <= maximum, (
+            f"{path.parent.name}: water-mass [{near}, {far}] exceeds "
+            f"sensor range [{minimum}, {maximum}]"
+        )

From 1d4c95550709387462bcfc19b83e8be760767e39 Mon Sep 17 00:00:00 2001
From: yeseorizi <172019512+yeseorizi@users.noreply.github.com>
Date: Fri, 9 Oct 2026 14:10:56 +0900
Subject: [PATCH 2/2] style: wrap DVL regression target declaration

---
 models/posim_sensor_models/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/models/posim_sensor_models/CMakeLists.txt b/models/posim_sensor_models/CMakeLists.txt
index 38c35e24..859ed80f 100644
--- a/models/posim_sensor_models/CMakeLists.txt
+++ b/models/posim_sensor_models/CMakeLists.txt
@@ -13,7 +13,8 @@ ament_environment_hooks(
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-  ament_add_pytest_test(test_dvl_tracking_bounds test/test_dvl_tracking_bounds.py)
+  ament_add_pytest_test(test_dvl_tracking_bounds
+    test/test_dvl_tracking_bounds.py)
 endif()
 
 ament_package()