00608         gazebo::World::Instance()->ConnectWorldUpdateStartSignal(boost::bind(&[GazeboROSNode::publishLinkStates](classGazeboROSNode.html#abdcedd88754decfd73b04c1e9d7f5023),this));
    00609     }
    [00610](classGazeboROSNode.html#a55b6baafd9670e2d80866b97fe4a0623)     void [onModelStatesConnect](classGazeboROSNode.html#a55b6baafd9670e2d80866b97fe4a0623)()
    00611     {
    00612       this->[pub_model_states_connection_count_](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66)++;
    00613       if (this->[pub_model_states_connection_count_](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66) == 1) // connect on first subscriber
    00614         gazebo::World::Instance()->ConnectWorldUpdateStartSignal(boost::bind(&[GazeboROSNode::publishModelStates](classGazeboROSNode.html#a3dfb358eb77f12aa7f328aa0f6e712f0),this));
    00615     }
    [00616](classGazeboROSNode.html#a6574b2aebfd496f2884e34c45fa27926)     void [onLinkStatesDisconnect](classGazeboROSNode.html#a6574b2aebfd496f2884e34c45fa27926)()
    00617     {
    00618       this->[pub_link_states_connection_count_](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56)--;
    00619       if (this->[pub_link_states_connection_count_](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56) == 0) // disconnect with no subscribers
    00620         gazebo::World::Instance()->DisconnectWorldUpdateStartSignal(boost::bind(&[GazeboROSNode::publishLinkStates](classGazeboROSNode.html#abdcedd88754decfd73b04c1e9d7f5023),this));
    00621       else if (this->[pub_link_states_connection_count_](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56) < 0) // should not be possible
    00622         [ROS_ERROR](../../../api/rosconsole/html/macros__generated_8h.html#a7fb635b03cc608284eadecd2f8becd9a)("one too mandy disconnect from pub_link_states_ in gazeboros.cpp? something weird");
    00623     }
    [00624](classGazeboROSNode.html#a15ae648d7bede494570b980d7135226b)     void [onModelStatesDisconnect](classGazeboROSNode.html#a15ae648d7bede494570b980d7135226b)()
    00625     {
    00626       this->[pub_model_states_connection_count_](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66)--;
    00627       if (this->[pub_model_states_connection_count_](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66) == 0) // disconnect with no subscribers
    00628         gazebo::World::Instance()->DisconnectWorldUpdateStartSignal(boost::bind(&[GazeboROSNode::publishModelStates](classGazeboROSNode.html#a3dfb358eb77f12aa7f328aa0f6e712f0),this));
    00629       else if (this->[pub_model_states_connection_count_](classGazeboROSNode.html#a5c5117f163d5a790ffd92cb56073ca66) < 0) // should not be possible
    00630         [ROS_ERROR](../../../api/rosconsole/html/macros__generated_8h.html#a7fb635b03cc608284eadecd2f8becd9a)("one too mandy disconnect from pub_model_states_ in gazeboros.cpp? something weird");
    00631     }
    00632 
    [00633](classGazeboROSNode.html#ae64f3ffa32532763364a4b1c0fa0578e)     bool [spawnURDFModel](classGazeboROSNode.html#ae64f3ffa32532763364a4b1c0fa0578e)([gazebo_msgs::SpawnModel::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelRequest__.html) &req,[gazebo_msgs::SpawnModel::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelResponse__.html) &res)
    00634     {
    00635       // get flag on joint limits
    00636       bool enforce_limits = true; //option to add req.enforce_limits??
    00637 
    00638       // get name space for the corresponding model plugins
    00639       std::string robot_namespace = req.[robot_namespace](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelRequest__.html#a3c578c1623a220e86e6ef67489356b12);
    00640 
    00641       // incoming robot name
    00642       std::string model_name = req.[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelRequest__.html#a3f46d36811a6f381a676b7ac60691259);
    00643 
    00644       // incoming robot model string
    00645       std::string model_xml = req.[model_xml](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelRequest__.html#a4ea852fe421bee28bcaa852e69e13004);
    00646 
    00647       if (!this->[IsURDF](classGazeboROSNode.html#a44e27d338cc6fef752fcc039a6daa3ec "utilites for checking incoming string URDF/XML/Param")(model_xml) && ![IsColladaData](classGazeboROSNode.html#a476d9e8af3d9ad6b6a9385fe94455ced)(model_xml))