robot_state_publisher stops working until the /clock topic is equal to the last timestep before the reset

[ghost]

Hello.
There is a delay when I perform a reset_simulation for /clock topic.

Below is my code:

def resetSimulation(self):
    rospy.wait_for_service('/gazebo/reset_simulation')
    try:
        self.reset_proxy()
    except rospy.ServiceException as e:
        print ("/gazebo/reset_simulation service call failed")
    while tfData is None:
      try:
          tfData = rospy.wait_for_message('/ground_truth/state', Odometry, timeout=5)
      except:
          rospy.loginfo("Current drone pose not ready yet, retrying to get robot pose")

The reset is successful but it takes a lot of time for the simulation to start again. The robot_state_publisher stops working until the clock is equal to the last timestep before the reset.

[sloretz]

Hi @JaxDraxler, thanks for reporting the issue. Would you mind posting the launch file used to start robot_state_publisher?