DetachableJoint plugin: Reattached model when world is resetted

[ahcorde]

🦟 Bug fix

Fixes gazebosim/gazebo_test_cases#238

Summary

When a world with detachable joint is resetted the joint disappears, this should fix the issue

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)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[codecov]

Codecov Report

Merging #2131 (5c913d4) into gz-sim8 (923ccee) will increase coverage by 0.01%.
Report is 2 commits behind head on gz-sim8.
The diff coverage is 0.00%.

❗ Current head 5c913d4 differs from pull request most recent head 0769847. Consider uploading reports for the commit 0769847 to get more accurate results

@@             Coverage Diff             @@
##           gz-sim8    #2131      +/-   ##
===========================================
+ Coverage    65.45%   65.46%   +0.01%     
===========================================
  Files          323      323              
  Lines        30704    30708       +4     
===========================================
+ Hits         20097    20103       +6     
+ Misses       10607    10605       -2     

Files Changed	Coverage Δ
src/systems/detachable_joint/DetachableJoint.cc	64.58% <0.00%> (-1.85%)	⬇️
src/systems/detachable_joint/DetachableJoint.hh	100.00% <ø> (ø)

... and 1 file with indirect coverage changes

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[Voldivh]

I tried out the PR but I'm still getting that the detachable joints are disappearing when I press reset and creates new entities. This is the output I get when I click reset:

[Dbg] [SimulationRunner.cc:319] Rewinding simulation back to initial time.
[Dbg] [Physics.cc:925] Resetting Physics
[Dbg] [Physics.cc:2019] Detaching joint [45]
[Dbg] [Physics.cc:2019] Detaching joint [46]
[Dbg] [Physics.cc:2019] Detaching joint [47]
[Msg] Create service on [/world/detachable_joint/create]
[Msg] Remove service on [/world/detachable_joint/remove]
[Msg] Pose service on [/world/detachable_joint/set_pose]
[Msg] Pose service on [/world/detachable_joint/set_pose_vector]
[Msg] Light configuration service on [/world/detachable_joint/light_config]
[Msg] Physics service on [/world/detachable_joint/set_physics]
[Msg] SphericalCoordinates service on [/world/detachable_joint/set_spherical_coordinates]
[Msg] Enable collision service on [/world/detachable_joint/enable_collision]
[Msg] Disable collision service on [/world/detachable_joint/disable_collision]
[Msg] Material service on [/world/detachable_joint/visual_config]
[Msg] Material service on [/world/detachable_joint/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Msg] DiffDrive subscribing to twist messages on [/model/vehicle_blue/cmd_vel]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::DiffDrive] for entity [8]
[Dbg] [DetachableJoint.cc:268] Attaching entity: 48
[Dbg] [DetachableJoint.cc:268] Attaching entity: 49
[Dbg] [DetachableJoint.cc:268] Attaching entity: 50
[Dbg] [Physics.cc:1864] Creating detachable joint [48]
Msg [NameManager::issueNewName] (Skeleton::Joint | vehicle_blue) The name [fixed] is a duplicate, so it has been renamed to [fixed(1)]
[Dbg] [Physics.cc:1864] Creating detachable joint [49]
Msg [NameManager::issueNewName] (Skeleton::Joint | vehicle_blue) The name [fixed] is a duplicate, so it has been renamed to [fixed(2)]
[Dbg] [Physics.cc:1864] Creating detachable joint [50]
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model

I'm not sure if this is the expected behavior.

[ahcorde]

yes, the Physics engine will remove the joint and the plugin will create a new one.

@scpeters or @azeey is this correct ?

[azeey]

I'm not able to reproduce the problem locally. Reset seems to work as expected on detachable_joint.sdf.

Screen.recording.2023-09-19.15.43.16.webm

[azeey]

Removing beta from this since I can't reproduce this. I also haven't had a chance to review it.

[azeey]

@ahcorde can you try this one more time?