Topics renaming on reset of simulation

[4lon]

Environment

• OS Version: Ubuntu 24.04
• Binary build: 1.0.15-1noble.20250624.063542

Description

• Expected behavior: Gazebo topic names should be consistent between resets
• Actual behavior: After resetting the gazebo simulation, many of the topic names (for example those generated by the pose publisher plugin) change.

1. Use this gz-sim pose_publisher test world and run the simulation
2. View the topics with gz topic -l
3. Reset the simulation using the gui 'Reset the simulation button'
4. View the topics with gz topic -l

Output

In my example, the topic list before resetting is as follows:
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/currently_tracked
/gui/track
/model/double_pendulum_static_pose_publisher/pose
/model/double_pendulum_static_pose_publisher/pose_static
/model/double_pendulum_with_base/pose
/model/test_publish_only_model_pose/pose
/model/test_static_pose_update_freq/pose
/model/test_static_pose_update_freq/pose_static
/model/test_update_freq/pose
/stats
/world/pose_publisher/clock
/world/pose_publisher/model/double_pendulum_static_pose_publisher/link/upper_link/sensor/imu_sensor/imu
/world/pose_publisher/model/double_pendulum_with_base/link/upper_link/sensor/imu_sensor/imu
/world/pose_publisher/stats
/world/pose_publisher/state

After resetting, my topic list becomes:
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/currently_tracked
/gui/track
/stats
/world/pose_publisher/clock
/world/pose_publisher/model/double_pendulum_static_pose_publisher/link/upper_link/sensor/imu_sensor/imu
/world/pose_publisher/model/double_pendulum_static_pose_publisher/pose
/world/pose_publisher/model/double_pendulum_static_pose_publisher/pose_static
/world/pose_publisher/model/double_pendulum_with_base/link/upper_link/sensor/imu_sensor/imu
/world/pose_publisher/model/double_pendulum_with_base/pose
/world/pose_publisher/model/test_publish_only_model_pose/pose
/world/pose_publisher/model/test_static_pose_update_freq/pose
/world/pose_publisher/model/test_static_pose_update_freq/pose_static
/world/pose_publisher/model/test_update_freq/pose
/world/pose_publisher/stats
/world/pose_publisher/state

It appears many of the original topics get prepended with /world/pose_publisher

[XINJIANGMO]

Hi ! I try to reproduce it , but my output is totally identical.

[4lon]

Interesting, thanks for testing it out! I'm going to try it out with a docker image or something more reproducible by others to see if maybe it is just an issue on my machine.