[BUG] calling `/reset_simulation` causes `/xx/joint_states` stop. - Githubissues

ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo

http://wiki.ros.org/gazebo_ros_pkgs

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[BUG] calling `/reset_simulation` causes `/xx/joint_states` stop. #1368

Open ZhenshengLee opened 2 years ago

ZhenshengLee commented 2 years ago

ENV

ubuntu 20.04
ros noetic
gazebo 11.9.0

reproduce

roslaunch a gazebo configuration with joint_state_publisher and robot_state_publisher

rosservice call /gazebo/reset_simulation "{}"

actual behavior

rostopic echo /xxx/joint_states

stop outputing.

expected behavior

rostopic echo /xxx/joint_states

works and output msgs.

other info

may be related with #1347 #169

DongYanqi1029 commented 2 years ago

same problem with my /imu sensor

ba1Sta commented 2 years ago

I met the same problem, the topic configured in the plugin (gazebo_ros_state) will stuck for a long time (nealy 1 minute) after service call: "reset simulation"

Fuhua-Bot commented 1 year ago

the same with my imu topic, I found it seems the imu output data cannot cover the virtual time it has passed, it can only restart the output after the reset timestamp.