How to reset a gazebo world including actors positions

melodic

asked 2022-02-17 05:07:33 -0500

seif_seghiri
42 ●3 ●12 ●18 https://github.com/seifEddy

Hello there, community. I've created a gazebo simulation world with five human actors. I'd want to reset the simulation and the world, as well as each actor's position. However, after calling the reset simulation and reset world ros services, the actor plugin no longer works, and the actors remain stucked and overlapping one another. Is it possible to reset everything in Gazebo, including the actors' plugin?

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answered 2022-02-19 04:45:51 -0500

seif_seghiri
42 ●3 ●12 ●18 https://github.com/seifEddy

Dear community, the problem is solved by simply calling the ActorPlugin->Reset() inside the plugin (C++) source code. Do not forget to change the etiquette of the the Reset() method from protected: to public: so that it will be callable by the outside. Finally, calling the /gazebo/reset_simulation rosservice will result in resetting the plugin that controls those actors.

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Thank you for sharing!

osilva ( 2022-02-19 07:50:33 -0500 )edit

where do you set the Reset() function. Could you kindly elaborate. I am facing the same issue.

Hirak231992 ( 2022-09-27 09:35:15 -0500 )edit

Hi, you have to just override it just define the function inside your plugin source code :

void pluginClass::Reset() { ....... Do here whatever you want to reset anything .... .... }

seif_seghiri ( 2022-09-27 09:44:56 -0500 )edit

I have updated the mass of the object in runtime by writing a custom modelplugin. Could you kindly suggest where I should place my overriding function. I have attached the code and asked for it in the forum too. I would be very grateful if you could kindly see it.

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Hirak231992 ( 2022-09-27 12:50:21 -0500 )edit

put this definition on the source file (your_plugin.cpp)

void yourPluginClass::Reset() { ...... }

after adding this to the class public virtual methods declaration:

public: virtual void Reset();

seif_seghiri ( 2022-09-28 04:50:25 -0500 )edit

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answered 2022-02-17 06:34:31 -0500

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

Please take a look at this prior answer, I think that's what you are looking for:

https://answers.ros.org/question/2669...

import rospy
from std_srvs.srv import Empty

rospy.init_node('reset_world')

rospy.wait_for_service('/gazebo/reset_world')
reset_world = rospy.ServiceProxy('/gazebo/reset_world', Empty)

reset_world()

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Thank you osliva I already used this to reset the world but the problem is with gazebo actors. They get stuck the moment i reset the world and they never start moving again.

seif_seghiri ( 2022-02-17 06:56:20 -0500 )edit

And are you using /gazebo/reset_simulation as well?

osilva ( 2022-02-17 07:04:00 -0500 )edit

Yeah, I guess i have to reset the plugin that controls the actors in the simulation somehow!

seif_seghiri ( 2022-02-17 07:06:55 -0500 )edit

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How to reset a gazebo world including actors positions

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