Merge branch 'gz-sim9' into Amal-python-system-GIL

src/SimulationRunner.cc

@@ -1596,8 +1596,6 @@ void SimulationRunner::CreateEntities(const sdf::World &_world)
   this->entityCompMgr.ProcessRemoveEntityRequests();
   this->entityCompMgr.ClearRemovedComponents();
 
-  this->LoadLoggingPlugins(this->serverConfig);
-
   // Load any additional plugins from the Server Configuration
   this->LoadServerPlugins(this->serverConfig.Plugins());
 
@@ -1653,6 +1651,11 @@ void SimulationRunner::CreateEntities(const sdf::World &_world)
     }
 
     this->LoadServerPlugins(defaultPlugins);
+    // Load logging plugins after all server plugins so that necessary
+    // plugins such as SceneBroadcaster are loaded first. This might be
+    // a bug or an assumption made in the logging plugins.
+    this->LoadLoggingPlugins(this->serverConfig);
+
   };
 
   // Store the initial state of the ECM;

test/integration/log_system.cc

@@ -774,6 +774,18 @@ TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback))
   // Start server
   Server playServer(playServerConfig);
 
+  // Simulate a client
+  gz::transport::Node node;
+  std::atomic<std::size_t> numMsgs = 0;
+  std::function<void(const msgs::SerializedStepMap &)> mockClient =
+    [&](const msgs::SerializedStepMap &/*_res*/)
+  {
+    numMsgs++;
+  };
+  using namespace std::placeholders;
+  EXPECT_TRUE(node.Subscribe(
+    "/world/default/state", mockClient));
+
   // Callback function for entities played back
   // Compare current pose being played back with the pose from the stateMsg
   test::Relay playbackPoseTester;
@@ -837,6 +849,9 @@ TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback))
   // checked in the playbackPoseTester
   playServer.Run(true, 500, false);
 
+  // The client should have received some messages.
+  EXPECT_NE(numMsgs, 0);
+
   // Count the total number of state messages in the log file
   int nTotal{0};
   for (auto it = batch.begin(); it != batch.end(); ++it, ++nTotal) { }