[Bug] GZ Simulation bricked with worlds different from 'default', waiting endlessly #23612
Description
Describe the bug
When spawning any other world in Gazebo Ignition with make px4_sitl gz_standard_vtol_default2
with world 'default2' being an exact copy of 'default', with only the name change in the SDF File, the GZ Bridge does not exit its loop for waiting on Gazebo, endlessly cycling with:
ERROR [gz_bridge] Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly.
WARN [gz_bridge] Service call timed out as Gazebo has not been detected.
This is due to an oversight in commit ae16556, where the world name was not correctly substituted into the string for the message call
Diff to fix the issue:
diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridg
e/GZBridge.cpp
index 7b45600e57..29d19fe111 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -154,7 +154,7 @@ int GZBridge::init()
return PX4_ERROR;
}
- std::string scene_info_service = "/world/default/scene/info";
+ std::string scene_info_service = "/world/" + _world_name + "/scene/
info";
bool scene_created = false;
while (scene_created == false) {
Thank you in advance
To Reproduce
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Expected behavior
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Screenshot / Media
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Flight Log
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Software Version
Flight controller
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Vehicle type
None
How are the different components wired up (including port information)
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Additional context
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