00898         }
    00899         {
    00900           boost::recursive_mutex::scoped_lock lock(*gazebo::Simulator::Instance()->GetMRMutex());
    00901           if (!gazebo::World::Instance()->GetEntityByName(req.[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelRequest__.html#ae6bbe17db56816c9331ef6bf466e5f21))) break;
    00902         }
    00903         [ROS_DEBUG](../../../api/rosconsole/html/macros__generated_8h.html#a83228c0b42c80605abdd0f42af64b1f7)("Waiting for model deletion (%s)",req.[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelRequest__.html#ae6bbe17db56816c9331ef6bf466e5f21).c_str());
    00904         usleep(1000);
    00905       }
    00906 
    00907       // set result
    00908       res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelResponse__.html#a51152f41440f853bd60c199e254a7789) = true;
    00909       res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelResponse__.html#ad32bf4e34bc8e7d8cf5f5fcf85dc9754) = std::string("DeleteModel: successfully deleted model");
    00910       return true;
    00911     }
    00912 
    [00915](classGazeboROSNode.html#a53eeeb118297985653d890a89108e21f)     bool [getModelState](classGazeboROSNode.html#a53eeeb118297985653d890a89108e21f)([gazebo_msgs::GetModelState::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateRequest__.html) &req,[gazebo_msgs::GetModelState::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateResponse__.html) &res)
    00916     {
    00917       gazebo::Model* model = dynamic_cast<gazebo::Model*>(gazebo::World::Instance()->GetEntityByName(req.[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateRequest__.html#a28ba8cf54d492a7ef1782e7e938d2deb)));
    00918       gazebo::Body* frame = dynamic_cast<gazebo::Body*>(gazebo::World::Instance()->GetEntityByName(req.[relative_entity_name](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateRequest__.html#a4b15abcdd6f57dd69eaa959f25642509)));
    00919       if (!model)
    00920       {
    00921         [ROS_ERROR](../../../api/rosconsole/html/macros__generated_8h.html#a7fb635b03cc608284eadecd2f8becd9a)("GetModelState: model [%s] does not exist",req.[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateRequest__.html#a28ba8cf54d492a7ef1782e7e938d2deb).c_str());
    00922         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateResponse__.html#aeb58e60c2f46b69ad7ff582169ae3b6c) = false;
    00923         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelStateResponse__.html#a2ac60b79617ca44e69200efbafe6d3ee) = "GetModelState: model does not exist";
    00924         return false;
    00925       }
    00926       else
    00927       {
    00928         // get model pose
    00929         gazebo::Pose3d  model_pose = model->GetWorldPose(); // - this->myBody->GetCoMPose();
    00930         gazebo::Vector3 model_pos = model_pose.pos;
    00931         gazebo::Quatern model_rot = model_pose.rot;
    00932 
    00933         // get model twist
    00934         gazebo::Vector3 model_linear_vel  = model->GetWorldLinearVel();
    00935         gazebo::Vector3 model_angular_vel = model->GetWorldAngularVel();
    00936 
    00937 
    00938         if (frame)
    00939         {