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[ros2] reset_world/reset_simulation fail with URDF

Hi everyone,

First of all I'm not sure if its correct to comment a still not accepted PR, so I'm just leaving this here. This is about Port time commands (pause / reset) PR.

I want to be able to reset my robot, but I'm not achieving the desired results with neither /reset_world nor /reset_simulation. Images are self explanatory, only the pure gazebo model works as expected, not the urdf.

  • In reset_world MARA model is not affected.
  • In reset_simulation MARA loses all joint forces, or something like that.

reset_world

reset_world

reset_simulation

reset_simulation