Models inserted before a log starts being recorded are not recorded

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Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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How to reproduce:

1. Open Gazebo
2. Insert some models, at least one of them should move, like the double pendulum
3. Record a log
4. Close Gazebo
5. Start Gazebo playing back the log.

The models never show up and messages like these keep being printed:

[Err] [World.cc:2383] Unable to find model[double_pendulum_with_base]
[Err] [World.cc:2383] Unable to find model[unit_box]

This was probably caused by pull request #2608

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Original comment by Deanna Hood (Bitbucket: d_hood).

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Confirmed that this was working fine in 8.2 (you probably knew that already but I was wondering if maybe this was actually just never supported).

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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It used to work because we would update the SDF description with the current contents of the world on log start.

this change broke that behavior.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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@chapulina It seems like we can just revert the initialSDF code, and everything will work again. Is there something I'm missing?

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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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I vaguely remember that in some situations models were being duplicated. Commit fabd662 seems to be relevant, but I don't see those changes on the pull request.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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This could also be the same issue as issue #2297.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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@chapulina it looks like you refactored the duplicate model code here (5fb430b).

Locally, I have reverted the initialSdf code, and have failed to reproduce the duplicate model problem as described here.

I'll make a PR with this revert, which should solve both this issue and #2297.

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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Thanks for investigating and solving the issue, I'll review the PR

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Correct, this change won't fix #2297.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Fixed in pull request #2890

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "resolved"

Resolved in pull request #2890