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Insertions not processed if done at t=0 with world paused #2297
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Original comment by Deanna Hood (Bitbucket: d_hood). Reverting https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2715 fixes the issue. I tried to revert different parts of that PR but I wasn't able to narrow it down any. https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/issues/2136/gz-log-echo-renders-state-log-unplayable (#2136) is a similar issue (also from ARIAC), where the default filter of Steps to reproduce:
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig). This can also be reproduced with stand-alone gazebo by:
The recorded log file will miss the double pendulum insertion. |
Original comment by Nate Koenig (Bitbucket: Nathan Koenig). Fixed in pull request #2890 |
Original comment by Nate Koenig (Bitbucket: Nathan Koenig).
Resolved in pull request #2890 |
Original report (archived issue) by Deanna Hood (Bitbucket: d_hood).
The original report had attachments: gazebo_7-7_state.log, gazebo_7-8_state.log
Since gazebo 7.8, log files for ARIAC are not inserting the robot arm correctly.
The insertion of the model is done with a call to
spawn_urdf
from gazebo_ros, while the world is paused.@nkoenig suspects the line that only processes insertions if t!=0 from this PR: https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2715/add-log-record-filter-options/diff#Lgazebo/physics/World.ccT2560 (
if (this->dataPtr->logLastStateTime != common::Time::Zero)
at time of writing in case that link gets outdated)I have attached un-compressed log files from both 7.7 and 7.8.
<insertions>
tag is missing in 7.8.Moving forward for ARIAC, we are going to pin our gazebo version to 7.7, so a fix is not needed urgently.
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