I have a model loaded that has a collision sensor. When I echo the rostopic, I see the expected output. But when I call /gazebo/reset_simulation, that output hangs for a long time -- up to a minute. This is despite the fact that it only takes 5 seconds to launch Gazebo and get the sensor output to start with.

I've made a simple proof of concept and uploaded the workspace to github.

To replicate,

• Download and catkin_init the workspace
• roslaunch BREAKROS_gazebo BREAKROS.launch
• In another terminal, rostopic echo /sensored_block_bumper
• In another terminal rosservice call /gazebo/reset_simulation
• You'll see that Gazebo actually resets itself pretty quickly, but the sensor output hangs.

Is there any way to speed this up? For my real project, it poses quite a problem. The robot will resume its movement after a reset long before the collision sensor goes up again.