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Thank you for trying out that pull request!

Images are self explanatory

Actually, could you describe what are the expected outcomes? You say that "In reset_simulation MARA loses all joint forces", and that's what I would expect. I'm not sure how you're applying forces to the model, but on your plugin, you should override the Plugin::Reset method and make sure your controllers respond accordingly. Another way to check if a reset occurred is to get the current simulation time and detect if it has moved backwards.

Also, a side note, the ROS 2 pull request you're testing is only exposing Gazebo functionality which you could also access through the GUI. These are the hotkeys on gzclient:

  • Ctrl + R: Reset simulation
  • Ctrl + Shift + R: Reset world