ResetSimulation

This is a ROS service definition.

Source

# Reset the simulation to the start, including the entire scene and the simulation time.
# Objects that were dynamically spawned are de-spawned.
# Support for this interface is indicated through the SIMULATION_RESET value in GetSimulationFeatures,
# and supported scopes are further detailed by SIMULATION_RESET_TIME, SIMULATION_RESET_STATE, and SIMULATION_RESET_SPAWNED.

uint8 SCOPE_DEFAULT       = 0             # same as SCOPE_ALL.
uint8 SCOPE_TIME          = 1             # Reset simulation time to start.
uint8 SCOPE_STATE         = 2             # Reset state such as poses and velocities. This may include state randomization
                                          # if such feature is available and turned on.
uint8 SCOPE_SPAWNED       = 4             # De-spawns all spawned entities.
uint8 SCOPE_ALL           = 255           # Fully resets simulation to the start, as if it was closed and launched again.

uint8 scope                               # Scope of the reset. Note that simulators might only support some scopes.
                                          # This is a bit field which may be checked for each scope e.g. scope & SCOPE_TIME.

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Result result