Send state message when components are removed

Signed-off-by: Nate Koenig <[email protected]>

include/ignition/gazebo/EntityComponentManager.hh

@@ -669,6 +669,10 @@ namespace ignition
       /// \param[in] _offset Offset value.
       public: void SetEntityCreateOffset(uint64_t _offset);
 
+      /// \brief Return true if there are components marked for removal.
+      /// \return True if there are components marked for removal.
+      public: bool HasRemovedComponents() const;
+
       /// \brief Clear the list of newly added entities so that a call to
       /// EachAdded after this will have no entities to iterate. This function
       /// is protected to facilitate testing.

src/EntityComponentManager.cc

@@ -557,6 +557,13 @@ void EntityComponentManager::ClearNewlyCreatedEntities()
   }
 }
 
+/////////////////////////////////////////////////
+bool EntityComponentManager::HasRemovedComponents() const
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->removedComponentsMutex);
+  return !this->dataPtr->removedComponents.empty();
+}
+
 /////////////////////////////////////////////////
 void EntityComponentManager::ClearRemovedComponents()
 {

src/systems/scene_broadcaster/SceneBroadcaster.cc

@@ -284,7 +284,7 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info,
   bool jumpBackInTime = _info.dt < std::chrono::steady_clock::duration::zero();
   bool changeEvent = _manager.HasEntitiesMarkedForRemoval() ||
     _manager.HasNewEntities() || _manager.HasOneTimeComponentChanges() ||
-    jumpBackInTime;
+    jumpBackInTime || _manager.HasRemovedComponents();
   auto now = std::chrono::system_clock::now();
   bool itsPubTime = !_info.paused && (now - this->dataPtr->lastStatePubTime >
        this->dataPtr->statePublishPeriod);