Calling /gazebo/reset_simulation breaks contact sensor output

asked 2014-02-17 13:16:39 -0500

Ben B gravatar image

updated 2014-02-17 13:21:34 -0500

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.

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Comments

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2014-02-18 04:29:44 -0500 )edit

You might be right. I've submitted a ticket: https://github.com/ros-simulation/gazeborospkgs/issues/169

Ben B gravatar imageBen B ( 2014-02-18 15:40:53 -0500 )edit