02200           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.contact_surface_layer      = config.contact_surface_layer       ;
    02201           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.contact_max_correcting_vel = config.contact_max_correcting_vel  ;
    02202           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.cfm                        = config.cfm                         ;
    02203           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.erp                        = config.erp                         ;
    02204           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.max_contacts               = config.max_contacts                ;
    02205           this->[physics_reconfigure_set_client_](classGazeboROSNode.html#a401861e9aa2d4421f34dc92411e41afd).[call](../../../api/roscpp/html/classros_1_1ServiceClient.html#ad7f2499f8fcdc6598e284bc6094d2d77)(srv);
    02206           [ROS_INFO](../../../api/rosconsole/html/macros__generated_8h.html#a20d5da22f16df09d52a7577227636a83)("physics dynamics reconfigure update complete");
    02207         }
    02208         [ROS_INFO](../../../api/rosconsole/html/macros__generated_8h.html#a20d5da22f16df09d52a7577227636a83)("physics dynamics reconfigure complete");
    02209       }
    02210     }
    02211 
    [02212](classGazeboROSNode.html#aeeeaf330e57c06557910d62034bab2d5)     void [PhysicsReconfigureNode](classGazeboROSNode.html#aeeeaf330e57c06557910d62034bab2d5)()
    02213     {
    02214       [ros::NodeHandle](../../../api/roscpp/html/classros_1_1NodeHandle.html) node_handle;
    02215       this->[physics_reconfigure_set_client_](classGazeboROSNode.html#a401861e9aa2d4421f34dc92411e41afd) = node_handle.[serviceClient](../../../api/roscpp/html/classros_1_1NodeHandle.html#a3db491e71bcdd1d99f6cff789bd1adbc)<[gazebo_msgs::SetPhysicsProperties](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html)>("/gazebo/set_physics_properties");
    02216       this->[physics_reconfigure_get_client_](classGazeboROSNode.html#a7dd692c657f72627df72e9b765679a10) = node_handle.[serviceClient](../../../api/roscpp/html/classros_1_1NodeHandle.html#a3db491e71bcdd1d99f6cff789bd1adbc)<[gazebo_msgs::GetPhysicsProperties](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html)>("/gazebo/get_physics_properties");
    02217       this->[physics_reconfigure_set_client_](classGazeboROSNode.html#a401861e9aa2d4421f34dc92411e41afd).[waitForExistence](../../../api/roscpp/html/classros_1_1ServiceClient.html#a530e3f1d55cf50ab00b8e5bbd9e8230a)();
    02218       this->physics_reconfigure_get_client_.waitForExistence();
    02219 
    02220       // for dynamic reconfigure physics
    02221       // for dynamic_reconfigure
    02222       dynamic_reconfigure::Server<gazebo::PhysicsConfig> physics_reconfigure_srv;
    02223       dynamic_reconfigure::Server<gazebo::PhysicsConfig>::CallbackType physics_reconfigure_f;
    02224 
    02225       physics_reconfigure_f = boost::bind(&[GazeboROSNode::PhysicsReconfigureCallback](classGazeboROSNode.html#a03177cbae757eebae30cf03d7950d532), this, _1, _2);
    02226       physics_reconfigure_srv.setCallback(physics_reconfigure_f);
    02227 
    02228       [ROS_INFO](../../../api/rosconsole/html/macros__generated_8h.html#a20d5da22f16df09d52a7577227636a83)("Starting to spin physics dynamic reconfigure node...");
    02229       [ros::Rate](../../../api/rostime/html/classros_1_1Rate.html) r(10);
    02230       while(ros::ok())
    02231       {
    02232         ros::spinOnce();
    02233         r.[sleep](../../../api/rostime/html/classros_1_1Rate.html#ae5664d27cda1b17a103347560259e945)();
    02234       }
    02235     }
    02236 
    02237 
    [02239](classGazeboROSNode.html#a3ed4d4489e1988232be63098587f5248)     [tf::TransformBroadcaster](../../../api/tf/html/classtf_1_1TransformBroadcaster.html) [tfbr](classGazeboROSNode.html#a3ed4d4489e1988232be63098587f5248 "broadcast transform between all models and the gazebo inertial &quot;world&quot;...");
    02240