02454             link_states.[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1LinkStates__.html#a2bffebd01b9e33fac565b6795389958f).push_back(twist);
    02455           }
    02456         }
    02457       }
    02458       this->[pub_link_states_](classGazeboROSNode.html#ac591a7b9378b025c5acd7b53a59e87b5).[publish](../../../api/roscpp/html/classros_1_1Publisher.html#af4e0009d55b5a7729fd71c3ffdf502cd)(link_states);
    02459     }
    02460 
    [02463](classGazeboROSNode.html#a3dfb358eb77f12aa7f328aa0f6e712f0)     void [publishModelStates](classGazeboROSNode.html#a3dfb358eb77f12aa7f328aa0f6e712f0)()
    02464     {
    02465       [gazebo_msgs::ModelStates](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelStates__.html) model_states;
    02466       // fill model_states
    02467       const std::vector<gazebo::Model*> models = gazebo::World::Instance()->GetModels();
    02468       for (std::vector<gazebo::Model*>::const_iterator miter = models.begin(); miter != models.end(); miter++)
    02469       {
    02470         model_states.[name](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelStates__.html#a6774b62bfe88d04536b8a63167e01f93).push_back((*miter)->GetCompleteScopedName());
    02471         [geometry_msgs::Pose](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html) pose;
    02472         gazebo::Pose3d  model_pose = (*miter)->GetWorldPose(); // - this->myBody->GetCoMPose();
    02473         gazebo::Vector3 pos = model_pose.pos;
    02474         gazebo::Quatern rot = model_pose.rot;
    02475         pose.[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#acd9420e6916084b2a9c09019bfda1708) = pos.x;
    02476         pose.[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a46a84ff5a3e5817ab5693abda66fccb0) = pos.y;
    02477         pose.[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a061f0093e927a95998f35ceceb5cebda) = pos.z;
    02478         pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[w](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a440791d268a65607ecbac21e0ed153cf) = rot.u;
    02479         pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a11f3b4e2df587ce516fd2a8140c1c7c5) = rot.x;
    02480         pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a601c978178311ce3a618afb38c0b6b98) = rot.y;
    02481         pose.[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#ae2caceb9fc4b2fd01acd8419aa7ebc2e) = rot.z;
    02482         model_states.[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelStates__.html#aeb2d8d6b18ca584c5fe37e72c0d0dccd).push_back(pose);
    02483         gazebo::Vector3 linear_vel  = (*miter)->GetWorldLinearVel();
    02484         gazebo::Vector3 angular_vel = (*miter)->GetWorldAngularVel();
    02485         [geometry_msgs::Twist](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html) twist;
    02486         twist.[linear](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#a394500332ac20028528c37103e1bf8e5).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be) = linear_vel.x;
    02487         twist.[linear](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#a394500332ac20028528c37103e1bf8e5).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404) = linear_vel.y;
    02488         twist.[linear](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#a394500332ac20028528c37103e1bf8e5).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1) = linear_vel.z;
    02489         twist.[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be) = angular_vel.x;
    02490         twist.[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404) = angular_vel.y;
    02491         twist.[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1) = angular_vel.z;
    02492         model_states.[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelStates__.html#a182ac64781c745e9f8f7bd40b825caa9).push_back(twist);
    02493       }
    02494       this->[pub_model_states_](classGazeboROSNode.html#a9956d9b0ba56fa9ae7910588c22931e0).[publish](../../../api/roscpp/html/classros_1_1Publisher.html#af4e0009d55b5a7729fd71c3ffdf502cd)(model_states);
    02495     }