Override gazebo reset method (#413) (#414)

mergify[bot] · web-flow · commit 1213c4f98664 · 2025-10-17T12:59:49.000+02:00
diff --git a/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_ros2_control_plugin.hpp b/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_ros2_control_plugin.hpp
@@ -57,6 +57,7 @@ class GazeboRosControlPlugin : public gazebo::ModelPlugin
 
   // Overloaded Gazebo entry point
   void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf) override;
+  void Reset() override;
 
 private:
   /// Private data pointer
diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -437,6 +437,11 @@ void GazeboRosControlPrivate::Update()
 }
 
 // Called on world reset
+void GazeboRosControlPlugin::Reset()
+{
+  impl_->Reset();
+}
+
 void GazeboRosControlPrivate::Reset()
 {
   // Reset timing variables to not pass negative update periods to controllers on world reset

Original file line number	Diff line number	Diff line change
`@@ -437,6 +437,11 @@ void GazeboRosControlPrivate::Update()`
`437`	`437`	`}`
`438`	`438`
`439`	`439`	`// Called on world reset`
	`440`	`+void GazeboRosControlPlugin::Reset()`
	`441`	`+{`
	`442`	`+ impl_->Reset();`
	`443`	`+}`
	`444`	`+`
`440`	`445`	`void GazeboRosControlPrivate::Reset()`
`441`	`446`	`{`
`442`	`447`	`// Reset timing variables to not pass negative update periods to controllers on world reset`