SITL Gazebo, Reset model using code

edit

Hello, I am looking to reset the model position, I found that it is possible using the Edit panel in gazebo. I have tried to write several code to reset the mode automatically from the outside even being inspired by the source code of gazebo itself. However, the code I have written does not do anything. I do not know if you have an idea why it does not working. Should the code be implemented as a plugin?? or I missed something ?

         /*  C++ Standard library include */                                                                                                                                                                               
# include <cstdlib>                                                                                                                                                                                               
# include <string>                                                                                                                                                                                                
# include <future>                                                                                                                                                                                                
# include <chrono>                                                                                                                                                                                                     
# include <thread>                                                                                                                                                                                                
# include <vector>                                                                                                                                                                                                

/*  locale defined include */                                                                                                                                                                                     
# include "gazebo.hh"                                                                                                                                                                                             

int main(int argc, char* argv[])                                                                                                                                                                                  
{                                                                                                                                                                                                                 

  gazebo::transport::NodePtr node(new gazebo::transport::Node());                                                                                                                                                 

  /*  start resetting the world  */                                                                                                                                                                               

  gazebo::transport::PublisherPtr reset_pub;                                                                                                                                                                      

  gazebo::transport::PublisherPtr  userCmdPub;                                                                                                                                                                    

  node->Init("iris.world");                                                                                                                                                                                       
  node->GetTopicNamespace();                                                                                                                                                                                      

  //  ~/world_control                                                                                                                                                                                             

  reset_pub = node->Advertise<gazebo::msgs::WorldControl>("~/world_control");                                                                                                                                     

  userCmdPub = node->Advertise<gazebo::msgs::UserCmd>("~/user_cmd");                                                                                                                                              


  gazebo::msgs::WorldControl msg;                                                                                                                                                                                 

  //  w_ctrl.reset(); //->set_all(true); //I believe this is equal to indicating a world reset                                                                                                                    
  msg.mutable_reset()->set_all(false);                                                                                                                                                                            
  msg.mutable_reset()->set_time_only(false);                                                                                                                                                                      

  msg.mutable_reset()->set_model_only(true);                                                                                                                                                                      

  gazebo::msgs::UserCmd userCmdMsg;                                                                                                                                                                               
  userCmdMsg.set_description("Reset models");                                                                                                                                                                     
  userCmdMsg.set_type(gazebo::msgs::UserCmd::WORLD_CONTROL);                                                                                                                                                      
  userCmdMsg.mutable_world_control()->CopyFrom(msg);                                                                                                                                                              
  userCmdPub->Publish(userCmdMsg);                                                                                                                                                                                

  reset_pub->Publish(msg);                                                                                                                                                                                        

}