ROS Gazebo reset_simulation or reset_world breaks commands sent to cmd_vel [closed]
Hi,
I am currently using the tum simulator (which build upon the gazebo simulator) on ROS Fuerte . I want to run algorithms on the simulator, and in order to do that I need to reset the simulation every now and then. However, when I call /gazebo/reset_simulation or /gazebo/reset_world, it breaks something:
The quadrotor will reset to its original position, but then commands sent to /cmd_vel are ignored. (Even commands sent to takeoff or land topics). If the quadrotor is not moving (on ground) before I call /gazebo/reset_simulation. The quadrotor will reset to its original position, and stays on the ground (takeoff command does nothing, even with using a ps3 controller, pressing L1 does nothing). If the quadrotor is flying before the /gazebo/reset_simulation is called, the quadrotor will reset to its original position and flies off randomly. When I echo the cmd_vel topic, the command velocities are still being published, and gazebo still subscribes to cmd/vel. Can someone explain why this happens? Are there any other ways to reset the simulator?
I have also tried using the service /gazebo/set_model_state, but then the quadrotor just bounces off from the origin.
Thanx,
Kind Regards.
Hi,
Have you found solution? I have very similar behaviour for differential drive robot. After reseting gazebo through rosservice call /gazebo/reset_world cmd_vel commands seems to either be ignored or the robot gets incredibile boost and flies around the screen.
has anyone found a solution to this?