[02120](classGazeboROSNode.html#a29a3c7cd81b53e4d44e9df9a9148336c)     [ros::ServiceServer](../../../api/roscpp/html/classros_1_1ServiceServer.html) [unpause_physics_service_](classGazeboROSNode.html#a29a3c7cd81b53e4d44e9df9a9148336c);
    [02121](classGazeboROSNode.html#ad766fc703dd022e87b4270aaf941da3b)     [ros::ServiceServer](../../../api/roscpp/html/classros_1_1ServiceServer.html) [clear_joint_forces_service_](classGazeboROSNode.html#ad766fc703dd022e87b4270aaf941da3b);
    [02122](classGazeboROSNode.html#a3606e1466660e6b43cecee7b3c246050)     [ros::ServiceServer](../../../api/roscpp/html/classros_1_1ServiceServer.html) [clear_body_wrenches_service_](classGazeboROSNode.html#a3606e1466660e6b43cecee7b3c246050);
    [02123](classGazeboROSNode.html#a498ffe7e5679a42ce7fbba55ebf7746f)     [ros::Subscriber](../../../api/roscpp/html/classros_1_1Subscriber.html)    [set_link_state_topic_](classGazeboROSNode.html#a498ffe7e5679a42ce7fbba55ebf7746f);
    [02124](classGazeboROSNode.html#a4acfb9bd33579d8fe776a7c516baaec9)     [ros::Subscriber](../../../api/roscpp/html/classros_1_1Subscriber.html)    [set_model_state_topic_](classGazeboROSNode.html#a4acfb9bd33579d8fe776a7c516baaec9);
    [02125](classGazeboROSNode.html#aed02a543ac7934fc64049963e08fe30f)     [ros::Publisher](../../../api/roscpp/html/classros_1_1Publisher.html)     [pub_clock_](classGazeboROSNode.html#aed02a543ac7934fc64049963e08fe30f);
    [02126](classGazeboROSNode.html#ac591a7b9378b025c5acd7b53a59e87b5)     [ros::Publisher](../../../api/roscpp/html/classros_1_1Publisher.html)     [pub_link_states_](classGazeboROSNode.html#ac591a7b9378b025c5acd7b53a59e87b5);
    [02127](classGazeboROSNode.html#a9956d9b0ba56fa9ae7910588c22931e0)     [ros::Publisher](../../../api/roscpp/html/classros_1_1Publisher.html)     [pub_model_states_](classGazeboROSNode.html#a9956d9b0ba56fa9ae7910588c22931e0);
    [02128](classGazeboROSNode.html#a5d3fe16d1240033b9bb04ef67bc24c9a)     [ros::Publisher](../../../api/roscpp/html/classros_1_1Publisher.html)     [pub_gazebo_paused_](classGazeboROSNode.html#a5d3fe16d1240033b9bb04ef67bc24c9a);
    [02129](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56)     int                [pub_link_states_connection_count_](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56);
    [02130](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66)     int                [pub_model_states_connection_count_](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66);
    02131 
    02132     // physics dynamic reconfigure
    [02133](classGazeboROSNode.html#abadd1aabaaa2353bccd4a48bc561e779)     boost::thread* [physics_reconfigure_thread_](classGazeboROSNode.html#abadd1aabaaa2353bccd4a48bc561e779);
    [02134](classGazeboROSNode.html#a2181c5f39b7ef9e85ef3382e53f66b40)     bool [physics_reconfigure_initialized_](classGazeboROSNode.html#a2181c5f39b7ef9e85ef3382e53f66b40);
    02135 
    [02136](classGazeboROSNode.html#a401861e9aa2d4421f34dc92411e41afd)     [ros::ServiceClient](../../../api/roscpp/html/classros_1_1ServiceClient.html) [physics_reconfigure_set_client_](classGazeboROSNode.html#a401861e9aa2d4421f34dc92411e41afd);
    [02137](classGazeboROSNode.html#a7dd692c657f72627df72e9b765679a10)     [ros::ServiceClient](../../../api/roscpp/html/classros_1_1ServiceClient.html) [physics_reconfigure_get_client_](classGazeboROSNode.html#a7dd692c657f72627df72e9b765679a10);
    02138 
    [02139](classGazeboROSNode.html#a03177cbae757eebae30cf03d7950d532)     void [PhysicsReconfigureCallback](classGazeboROSNode.html#a03177cbae757eebae30cf03d7950d532)(gazebo::PhysicsConfig &config, [uint32_t](../../../api/rxtools/html/namespacerxtools.html#a4df59b602fbf4c488b2e8eebe9a516ec) level)
    02140     {
    02141       if (![physics_reconfigure_initialized_](classGazeboROSNode.html#a2181c5f39b7ef9e85ef3382e53f66b40))
    02142       {
    02143         [gazebo_msgs::GetPhysicsProperties](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html) srv;
    02144         this->[physics_reconfigure_get_client_](classGazeboROSNode.html#a7dd692c657f72627df72e9b765679a10).[call](../../../api/roscpp/html/classros_1_1ServiceClient.html#ad7f2499f8fcdc6598e284bc6094d2d77)(srv);
    02145 
    02146         config.time_step                   = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).time_step;
    02147         config.max_update_rate             = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).max_update_rate;
    02148         config.gravity_x                   = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).gravity.x;
    02149         config.gravity_y                   = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).gravity.y;
    02150         config.gravity_z                   = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).gravity.z;
    02151         config.auto_disable_bodies         = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.auto_disable_bodies;
    02152         config.sor_pgs_precon_iters        = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_precon_iters;
    02153         config.sor_pgs_iters               = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_iters;
    02154         config.sor_pgs_rms_error_tol       = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_rms_error_tol;
    02155         config.sor_pgs_w                   = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_w;
    02156         config.contact_surface_layer       = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.contact_surface_layer;
    02157         config.contact_max_correcting_vel  = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.contact_max_correcting_vel;
    02158         config.cfm                         = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.cfm;
    02159         config.erp                         = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.erp;