01194       res.[link_state](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateResponse__.html#aa83952af428b1a3732e0e19cc2a7353e).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1LinkState__.html#aacdf4d3b28003c05951526d13a1c57f8).[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be) = body_veul.x;
    01195       res.[link_state](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateResponse__.html#aa83952af428b1a3732e0e19cc2a7353e).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1LinkState__.html#aacdf4d3b28003c05951526d13a1c57f8).[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404) = body_veul.y;
    01196       res.[link_state](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateResponse__.html#aa83952af428b1a3732e0e19cc2a7353e).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1LinkState__.html#aacdf4d3b28003c05951526d13a1c57f8).[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1) = body_veul.x;
    01197       res.[link_state](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateResponse__.html#aa83952af428b1a3732e0e19cc2a7353e).[reference_frame](../../gazebo_msgs/html/structgazebo__msgs_1_1LinkState__.html#af3c75584cb85e20e4bac931829d8a80e) = req.[reference_frame](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateRequest__.html#a83af84cb417fc8e9297c12f514a2be53);
    01198 
    01199       res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateResponse__.html#ab078790cbd3b85968631041914f263eb) = true;
    01200       res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkStateResponse__.html#ae6630d81e448f045256efffe68e5b7bd) = "GetLinkState: got state";
    01201       return true;
    01202     }
    01203 
    [01206](classGazeboROSNode.html#a760bdded5957218245e985ccc568b0fa)     bool [setLinkProperties](classGazeboROSNode.html#a760bdded5957218245e985ccc568b0fa)([gazebo_msgs::SetLinkProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html) &req,[gazebo_msgs::SetLinkProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesResponse__.html) &res)
    01207     {
    01208       gazebo::Body* body = dynamic_cast<gazebo::Body*>(gazebo::World::Instance()->GetEntityByName(req.[link_name](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#ac5345bab1c3821bbcaeeb7120bd4bec9)));
    01209       if (body == NULL)
    01210       {
    01211         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesResponse__.html#aac9892dab046dcd066b590089f0efba7) = false;
    01212         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesResponse__.html#a85799d48602705ed7e2e53f204e3a76a) = "SetLinkProperties: link not found, did you forget to scope the link by model name?";
    01213         return false;
    01214       }
    01215       else
    01216       {
    01217         gazebo::Mass mass;
    01218         // @todo: FIXME: add inertia matrix rotation to Gazebo
    01219         // mass.SetInertiaRotation(gazebo::Quaternion(req.com.orientation.w,res.com.orientation.x,req.com.orientation.y req.com.orientation.z));
    01220         mass.SetCoG(gazebo::Vector3(req.[com](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a1f3b70a749202a22e6d90ae2664ac98c).[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#acd9420e6916084b2a9c09019bfda1708),req.[com](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a1f3b70a749202a22e6d90ae2664ac98c).[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a46a84ff5a3e5817ab5693abda66fccb0),req.[com](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a1f3b70a749202a22e6d90ae2664ac98c).[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a061f0093e927a95998f35ceceb5cebda)));
    01221         mass.SetInertiaMatrix(req.[ixx](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a75dcce8d024d09bd3f27dfb546791507),req.[iyy](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#aee84669ab989e75f48de4bd26a663138),req.[izz](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#af4bf8f338d9967640fb7262f51a8b005),req.[ixy](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a5fd5259b8c4297104526c9fbfdbb9fb4),req.[ixz](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a7895b38a03a2f3eef52efba2193c3dc6),req.[iyz](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a8da9a7a2a38d19d58fb6de7b41d91cc9));
    01222         mass.SetMass(req.[mass](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a88d30531415ffb74a71dddcd11f374ad));
    01223         body->SetMass(mass);
    01224         body->SetGravityMode(req.[gravity_mode](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesRequest__.html#a096d54da685c1a5c1aabcfd306b5d954));
    01225         // @todo: mass change unverified
    01226         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesResponse__.html#aac9892dab046dcd066b590089f0efba7) = true;
    01227         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SetLinkPropertiesResponse__.html#a85799d48602705ed7e2e53f204e3a76a) = "SetLinkProperties: properties set";
    01228         return true;
    01229       }
    01230       return true;
    01231     }
    01232 
    [01235](classGazeboROSNode.html#a5cf06484d77fad60d8cb2effb985a83d)     bool [setPhysicsProperties](classGazeboROSNode.html#a5cf06484d77fad60d8cb2effb985a83d)([gazebo_msgs::SetPhysicsProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html) &req,[gazebo_msgs::SetPhysicsProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesResponse__.html) &res)
    01236     {
    01237       // pause simulation if requested