Apply initial sim time also after a reset.

[peci1]

🦟 Bug fix

Fixes #3294 (comment)

Summary

Initial sim time should also be respected after a reset.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
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[traversaro]

Thanks! Ok for me, as long as the ABI checker is happy (it should be, but better double check).

[peci1]

Thanks for the quick action! I just hope the other times present in ResetTime() are good to be zeros after reset. I tried to understand the meaning of each of them and it seemed so to me, but I'd rather have second eyes on this.

[traversaro]

Probably we can expand the setting description in

gazebo-classic/gazebo/Server.cc

Line 202 in af7d327

"Initial simulation time (seconds).")

to explain that is not only used during the first run of the sim, but also after reset?

[traversaro]

Ok for me, thanks! Technically (per Hyrum's Law) this may be a behaviour breaking change, but I think it make sense. Probably to be sure it is best to also wait for an approval of @scpeters .

[peci1]

Technically (per Hyrum's Law) this may be a behaviour breaking change

Technically, you're right. Practically, if anyone had tried the reset from e.g. current UNIX timestamp to 0, he'd face lots of problems with downstream code (e.g. ROS nodes). So my assumption is nobody tried that. The only potentially problematic use-case could be if the user specified a low init time like 1 or 10...

[scpeters]

this makes sense to me

thanks!