Legs' state cannot be reset

[sskorol]

Hi @tarasborov

Still playing with Spot teleop, and noticed that any changes that affect Spot's legs pose can't be reset via Gazebo.

Specifically, I tried to move the body up, until Spot reached the state it can't control the balance anymore.

Then I tried to reset model poses (even the world) via native Gazebo functionality. Spot has appeared in the initial point, but the legs' state hasn't been reset:

[tarasborov]

Gazebo can not reset robot pose because a ros_controller is running that set poses for joints.

[sskorol]

@tarasborov can we reset the controller's state to defaults? Maybe via publishing to some topic? Or it's not manageable?

[tarasborov]

To reset the controller, you should rerun it.