diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
index 1d3166a89..e08bc4dd6 100644
--- a/gtsam/sfm/ShonanAveraging.cpp
+++ b/gtsam/sfm/ShonanAveraging.cpp
@@ -343,8 +343,9 @@ static double Kappa(const BinaryMeasurement<T> &measurement) {
     const auto &robust = boost::dynamic_pointer_cast<noiseModel::Robust>(
         measurement.noiseModel());
     if (robust) {
-      throw std::runtime_error(
-          "Verification of optimality does not work with robust cost function");
+      std::cout << "Verification of optimality does not work with robust cost "
+                   "function"
+                << std::endl;
     } else {
       throw std::invalid_argument(
           "Shonan averaging noise models must be isotropic (but robust losses "
diff --git a/gtsam/sfm/tests/testBinaryMeasurement.cpp b/gtsam/sfm/tests/testBinaryMeasurement.cpp
index a079f7e04..ae13e54c4 100644
--- a/gtsam/sfm/tests/testBinaryMeasurement.cpp
+++ b/gtsam/sfm/tests/testBinaryMeasurement.cpp
@@ -66,8 +66,10 @@ TEST(BinaryMeasurement, Rot3) {
 
 /* ************************************************************************* */
 TEST(BinaryMeasurement, Rot3MakeRobust) {
+  auto huber_model = noiseModel::Robust::Create(
+      noiseModel::mEstimator::Huber::Create(1.345), rot3_model);
   BinaryMeasurement<Rot3> rot3Measurement(kKey1, kKey2, rot3Measured,
-                                          rot3_model, true);
+                                          huber_model);
 
   EXPECT_LONGS_EQUAL(rot3Measurement.key1(), kKey1);
   EXPECT_LONGS_EQUAL(rot3Measurement.key2(), kKey2);
@@ -75,12 +77,6 @@ TEST(BinaryMeasurement, Rot3MakeRobust) {
   const auto &robust = boost::dynamic_pointer_cast<noiseModel::Robust>(
       rot3Measurement.noiseModel());
   EXPECT(robust);
-
-  // test that if we call it again nothing changes:
-  rot3Measurement = BinaryMeasurement<Rot3>(rot3Measurement, true);
-  const auto &robust2 = boost::dynamic_pointer_cast<noiseModel::Robust>(
-      rot3Measurement.noiseModel());
-  EXPECT(robust2);
 }
 
 /* ************************************************************************* */