01023         for (unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392) = 0; [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392) < jc ; [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01024           res.[joint_names](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelPropertiesResponse__.html#a4e1a0730644ed5ac3f765b40007ee586).push_back( model->GetJoint([i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392))->GetName() );
    01025 
    01026         // get children model names
    01027         res.[child_model_names](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelPropertiesResponse__.html#adf217ea42ae5f370b1efb3f010978b19).clear();
    01028         const std::vector< gazebo::Entity* > children = model->GetChildren();
    01029         for (std::vector< gazebo::Entity* >::const_iterator citer = children.begin(); citer != children.end();  citer++)
    01030           res.[child_model_names](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelPropertiesResponse__.html#adf217ea42ae5f370b1efb3f010978b19).push_back((*citer)->GetName() );
    01031 
    01032         // is model static
    01033         res.[is_static](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelPropertiesResponse__.html#a09a8e0211965578f8ee0a46ecb89e1c8) = model->IsStatic();
    01034 
    01035         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelPropertiesResponse__.html#a37b00b8f7dff2d63ad76237f5d8df7eb) = true;
    01036         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetModelPropertiesResponse__.html#a2cf1722eb607280ff503bd5c78d51fd0) = "GetModelProperties: got properties";
    01037         return true;
    01038       }
    01039     }
    01040 
    [01043](classGazeboROSNode.html#ab485ea3ca05e68dd963edcdb64b99636)     bool [getWorldProperties](classGazeboROSNode.html#ab485ea3ca05e68dd963edcdb64b99636)([gazebo_msgs::GetWorldProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesRequest__.html) &req,[gazebo_msgs::GetWorldProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html) &res)
    01044     {
    01045       res.[sim_time](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html#a2ce1cbb782c518b4f003d7d99ebd9e51) = gazebo::Simulator::Instance()->GetSimTime().Double();
    01046       res.[model_names](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html#a9e81c59dd13728277a683f49303da8ab).clear();
    01047       const std::vector<gazebo::Model*> models = gazebo::World::Instance()->GetModels();
    01048       for (std::vector<gazebo::Model*>::const_iterator miter = models.begin(); miter != models.end(); miter++)
    01049         res.[model_names](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html#a9e81c59dd13728277a683f49303da8ab).push_back((*miter)->GetName());
    01050       res.[rendering_enabled](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html#a5de0a651c6f53e8b837556cf0a8cfd81) = gazebo::Simulator::Instance()->GetRenderEngineEnabled();
    01051       res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html#ace70c251ad884e343194f7572f7fe4fa) = true;
    01052       res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetWorldPropertiesResponse__.html#ae1c9f7df7afc82524052e564f885e7a2) = "GetWorldProperties: got properties";
    01053 
    01054       return true;
    01055     }
    01056 
    [01059](classGazeboROSNode.html#ab7dd403d73c7ee859edbcc889d9a88fd)     bool [getJointProperties](classGazeboROSNode.html#ab7dd403d73c7ee859edbcc889d9a88fd)([gazebo_msgs::GetJointProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesRequest__.html) &req,[gazebo_msgs::GetJointProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html) &res)
    01060     {
    01061       gazebo::Joint* joint = NULL;
    01062       const std::vector<gazebo::Model*> models = gazebo::World::Instance()->GetModels();
    01063       for (std::vector<gazebo::Model*>::const_iterator miter = models.begin(); miter != models.end(); miter++)
    01064       {
    01065         joint = (*miter)->GetJoint(req.[joint_name](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesRequest__.html#a1844152d6bf73bdbd82d30b4bde899ca));
    01066         if (joint) break;