[gazebo] Logging of UR10 arm broken with gazebo 7.8

[Deanna Hood]

See https://bitbucket.org/osrf/gazebo/issues/2297/insertions-not-processed-if-done-at-t-0

[Deanna Hood]

Additionally, a team has reported low RTF with 7.8 https://bitbucket.org/osrf/ariac/issues/83/gazebo-7-real-time-factor-dropped-below-02

edit: The low RTF has never been confirmed to have been specific to 7.8.

[Deanna Hood]

Additional details are at https://bitbucket.org/osrf/gazebo/issues/2297 (cc @nkoenig)

[Deanna Hood]

Logs that have been recorded with versions of gazebo > 7.7 can have the model insertion tag added manually (if they've been recorded as txt encoding) and then they will play fine.

sed '/<iterations>1<\/iterations>/ r insertion_tag.log.txt' gz8.2_txt.log.txt > gz8.2_txt_with_insertion.log.txt

[Deanna Hood]

robot insertion tag that gets stripped with versions > 7.7

[Deanna Hood]

Even for log files that have the insertion tag, gazebo 8.3 introduced an issue for log playback: https://bitbucket.org/osrf/gazebo/issues/2427

[Nate Koenig]

This might be fixed in: https://bitbucket.org/osrf/gazebo/pull-requests/2890/fix-for-issues-2297-and-2428/diff

[Deanna Hood]

fixed in gazebo8.4 released today