Localization node(amcl) does not work after call /gazebo/reset_simulation service

Hi, I’m taking the “Openai gym with ROS” course, and building my own environment. I met a problem that, when I reset the simulation in gazebo, my robot’s localization node(amcl) just does not work anymore. It seems the tf problem. In the course, it only mention that has to reset the controller, how about the localization and navigation. I’m thinking the localization node(amcl node) doesn’t work may due to the tf problem. After the gazebo is reset, their timestamp will be different. Can anyone give some hints? Thanks a lot!

You can reset WORLD instead of SIMULATION. The problem is due to the simulation reset, setting the sim time to 0. tf has issues with that.

Thank you very much. That really helps.