Reseting time or world messes with joint_state_controller

edit

The ros controllers were not developed for Gazebo. So, for a real robot, this code is valid.

If this behavior is a problem for you, then you have two options:

• write a world plugin that initializes time upon reset, such that it's strictly increasing

• write a model plugin that reloads the controllers upon reset. You can use the controller manager services for that

  class Plugin : public ModelPlugin { virtual void Reset() override { ctrl_mngr_srv.call(...); } };

Otherwise, GazeboRosControlPlugin should address this directly.