[BloodWork44]

Summary

The localization is now notified when the simulator is reset.

Proposed changes

The domain bridge doesn't support services or actions out of the box. ros2/domain_bridge#82 adds this support, which lets us call the localization reset service over the domain bridge.

Related issues

Mujoco Simulator Reset - #852

Checklist

• Run pixi run build
• Write documentation
• Test on your machine
• Test on multi robot simulation
• Create issues for future work
• Triage this PR and label it

[Flova]

I think calling services one to many is a fundermental problem, as they are build to be 1to1 because the caller gets exactly one response.

[MegaIng]

What do you mean with "one to many"?

The simulator does as many individual 1to1 service calls as there are robots, each robot's service gets mapped to a different service in the many domain id.

[Flova]

Ah okay nvm this makes more sense. I only looked at the description not at the code tbh..

[jaagut]

Tested this in multi-robot simulation: localization reset generally works after forcing regeneration of the domain bridge's generated dispatcher. Thanks!

It needs the follow-up #1116, stacked on this branch, which imports bit-bots/domain_bridge#1 via git-include.

Why: the bridge discovers supported service/action types at build time. Without a declared dependency on bitbots_localization, it can build before ResetFilter is installed. The generated dispatcher can then remain stale even after rebuilding with --cmake-force-configure, because its generation rule only depended on the generator script and template. That produces Failed to add service bridge for service reset_localization at bridge startup, followed by the simulator reporting localization unavailable despite it running in each robot domain.

The follow-up fixes build ordering, refreshes discovery on each build without rewriting unchanged output, and fails early if the required reset interface is missing. It also adds generator regressions and a remapped cross-domain reset service test; the service tests passed with Cyclone DDS, Fast DDS (static and dynamic), and Zenoh.

Please include #1116 before merging this PR so users do not need the manual regeneration workaround.