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Implement reset #659

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Implement reset #659

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6bdf9ce
Implement reset
ahcorde Aug 21, 2025
0b26ae8
Merge branch 'rolling' into ahcorde/rolling/reset
christophfroehlich Sep 26, 2025
6b71fa5
Satisfy pre-commit
christophfroehlich Sep 26, 2025
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7 changes: 6 additions & 1 deletion gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,8 @@ class GazeboSimROS2ControlPlugin
: public sim::System,
public sim::ISystemConfigure,
public sim::ISystemPreUpdate,
public sim::ISystemPostUpdate
public sim::ISystemPostUpdate,
public sim::ISystemReset
{
public:
/// \brief Constructor
Expand All @@ -54,6 +55,10 @@ class GazeboSimROS2ControlPlugin
const sim::UpdateInfo & _info,
const sim::EntityComponentManager & _ecm) override;

void Reset(
const gz::sim::UpdateInfo & _info,
gz::sim::EntityComponentManager & _ecm) override;

private:
/// \brief Private data pointer.
std::unique_ptr<GazeboSimROS2ControlPluginPrivate> dataPtr;
Expand Down
11 changes: 11 additions & 0 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
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Expand Up @@ -263,6 +263,16 @@ GazeboSimROS2ControlPlugin::~GazeboSimROS2ControlPlugin()
this->dataPtr->thread_executor_spin_.join();
}

//////////////////////////////////////////////////
void GazeboSimROS2ControlPlugin::Reset(
const gz::sim::UpdateInfo &/*_info*/,
gz::sim::EntityComponentManager &/*_ecm*/)
{
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(),
"Resetting gz_ros2_control plugin");
}

//////////////////////////////////////////////////
void GazeboSimROS2ControlPlugin::Configure(
const sim::Entity & _entity,
Expand Down Expand Up @@ -541,4 +551,5 @@ GZ_ADD_PLUGIN(
gz::sim::System,
gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemConfigure,
gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemPreUpdate,
gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemReset,
gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemPostUpdate)
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