GazeboControlPrivate::Reset() not called after a /reset_sim service call

[aihoque2]

Currently working on reinforcement learning with ROS 2 and Gazebo, and I am using gazebo_ros2_control to simulate some effort_controllers and /controller_manager/switch_controllers to call services. When I call /reset_sim, I notice that the controllers freeze and my /switch_controllers service calls are very delayed. I was thinking about creating a custom plugin that inherits from gazebo_ros2_control to restart the controls without service calls, but I noticed that GazeboRosControlPrivate::Reset() doesn't get called when simulation resets. I verified by putting and RCLCPP_INFO() statement in the function call when building gazebo_ros2_control from source. I was wondering what I could add in a custom plugin that inherits from GazeboRosControlPlugin to make sure GazeboRosControlPrivate::Reset() gets called.

[bmagyar]

This would be desired behaviour from gazebo_ros2_control so please try adding it here to share the fix with the rest of us.