Implement reset

[ahcorde]

If the model is included in the sdf with the gz_ros2_control plugin and the reset is not implemented, everything is configured again. But Implementing the reset method the plugin is still alive and configured

[christophfroehlich]

I tested this now

• on rolling+ionic: The reset works also without this patch? At least it does not throw, and the robot + ros2_controllers have to be spawned again.

• on humble+harmonic:

  • without the patch: #636

  • with this patch:

[ruby $(which gz) sim-1] [ERROR] [1758886900.453544138] [gz_ros2_control]: Resetting gz_ros2_control plugin
[ruby $(which gz) sim-1] Stack trace (most recent call last):
[ruby $(which gz) sim-1] #27   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which gz) sim-1] #26   Object "gz sim server", at 0x5fb5db5ed1c4, in _start
[ruby $(which gz) sim-1] #25   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7045a16d6e3f, in __libc_start_main
[ruby $(which gz) sim-1] #24   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7045a16d6d8f, in 
[ruby $(which gz) sim-1] #23   Object "gz sim server", at 0x5fb5db5ed17e, in 
[ruby $(which gz) sim-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1980e19, in ruby_run_node
[ruby $(which gz) sim-1] #21   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a197d317, in 
[ruby $(which gz) sim-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b1230c, in rb_vm_exec
[ruby $(which gz) sim-1] #19   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b0cc96, in 
[ruby $(which gz) sim-1] #18   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b09fc5, in 
[ruby $(which gz) sim-1] #17   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b07c34, in 
[ruby $(which gz) sim-1] #16   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1a53a4e, in 
[ruby $(which gz) sim-1] #15   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a197e9ac, in rb_protect
[ruby $(which gz) sim-1] #14   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b16c61, in rb_yield
[ruby $(which gz) sim-1] #13   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b1230c, in rb_vm_exec
[ruby $(which gz) sim-1] #12   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b0cc96, in 
[ruby $(which gz) sim-1] #11   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b09fc5, in 
[ruby $(which gz) sim-1] #10   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1b07c34, in 
[ruby $(which gz) sim-1] #9    Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x70459dbb344b, in 
[ruby $(which gz) sim-1] #8    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7045a1ad5088, in rb_nogvl
[ruby $(which gz) sim-1] #7    Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x70459dbb2d6b, in 
[ruby $(which gz) sim-1] #6    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x70459dbe1492, in 
[ruby $(which gz) sim-1] #5    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x70459dbe4e2d, in 
[ruby $(which gz) sim-1] #4    Object "/usr/lib/x86_64-linux-gnu/libgz-sim8-gz.so.8.9.0", at 0x70459d10677d, in runServer
[ruby $(which gz) sim-1] #3    Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x70459cdd1f05, in 
[ruby $(which gz) sim-1] #2    Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x70459cde84ba, in gz::sim::v8::SimulationRunner::Run(unsigned long)
[ruby $(which gz) sim-1] #1    Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x70459cde7406, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
[ruby $(which gz) sim-1] #0    Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x70459cd5f19c, in gz::sim::v8::EntityComponentManager::ProcessRemoveEntityRequests()
[ruby $(which gz) sim-1] Segmentation fault (Address not mapped to object [0x7045583ff620])