odometry is not reseting after '/gazebo/reset_simulation' or '/gazebo/reset_world'

[emmarapt]

• OS: Ubuntu 16.04
• ROS Distro: Kinetic
• Gazebo: 9

Hello,

I am currently utilizing the Ridgeback mobile robot for a task involving reinforcement learning, in which the environment must be reset upon collision with an obstacle. Upon utilizing the Gazebo service /gazebo/reset_simulation, the odometry stops publishing. Conversely, utilizing /gazebo/reset_world results in the continuous publishing of cumulative odometry data from the previous state. I assume that this issue is related to the ridgeback_ros_force_based_move gazebo plugin, specifically due to the lack of a resetOdometry function. Despite attempting a proposed solution, as outlined in issue #32, the problem with the odometry still remains. Can this issue be resolved?

Thank you,
Emmanuel

[tonybaltovski]

We have not consider this use-case. Can you please test if adding resetOdometry will fix your issue and do a PR?