When resetting the simulation p3d_base_controller the odometry topic stops working

asked 2018-06-22 05:22:04 -0600

Duckfrost gravatar image

updated 2018-06-22 14:43:43 -0600

I'm using the p3d_base_controller plugin for getting odometry data of a robot model. When you call the gazebo/reset_simulation service, lets say in the ROS time 21sec, the odom topic wont start working again until that time.

Is there a way to restart this controller? Because it doesn't appear in the /moving_cube/controller_manager/list_controllers, because its not loaded through that path, but through the Gazebo plugin automatic loading system.

Can anyone tell me if there is a fix to this?

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You are starting the controller before the simulation?

wentz gravatar imagewentz ( 2018-06-25 06:31:32 -0600 )edit

Make sure that the parameter /use_sim_time on the rosparam server is set before you start your nodes.

wentz gravatar imagewentz ( 2018-06-25 06:32:19 -0600 )edit