00568         ros::VoidPtr(), &this->[gazebo_queue_](classGazeboROSNode.html#aaad18c9d54a8736ea6337821de03889a));
    00569       [set_link_state_topic_](classGazeboROSNode.html#a498ffe7e5679a42ce7fbba55ebf7746f) = this->[rosnode_](classGazeboROSNode.html#ae9011736edb2ec542d7176cdddeb546d).[subscribe](../../../api/roscpp/html/classros_1_1NodeHandle.html#a3b8e4b07d397119cd5c5e4439b170cbc)(link_state_so);
    00570 
    00571       // topic callback version for set_model_state
    00572       [ros::SubscribeOptions](../../../api/roscpp/html/structros_1_1SubscribeOptions.html) model_state_so = ros::SubscribeOptions::create<gazebo_msgs::ModelState>(
    00573         "set_model_state",10, boost::bind( &[GazeboROSNode::updateModelState](classGazeboROSNode.html#a73523a3c37f0cc5d970d51cc78b38cfd),this,_1),
    00574         ros::VoidPtr(), &this->[gazebo_queue_](classGazeboROSNode.html#aaad18c9d54a8736ea6337821de03889a));
    00575       [set_model_state_topic_](classGazeboROSNode.html#a4acfb9bd33579d8fe776a7c516baaec9) = this->[rosnode_](classGazeboROSNode.html#ae9011736edb2ec542d7176cdddeb546d).[subscribe](../../../api/roscpp/html/classros_1_1NodeHandle.html#a3b8e4b07d397119cd5c5e4439b170cbc)(model_state_so);
    00576 
    00577       // publish clock for simulated ros time
    00578       [pub_clock_](classGazeboROSNode.html#aed02a543ac7934fc64049963e08fe30f) = this->[rosnode_](classGazeboROSNode.html#ae9011736edb2ec542d7176cdddeb546d).[advertise](../../../api/roscpp/html/classros_1_1NodeHandle.html#a68232c46583059c8f7d948b154689e4c)<rosgraph_msgs::Clock>("/clock",10);
    00579 
    00580       // publish complete link states in world frame
    00581       [ros::AdvertiseOptions](../../../api/roscpp/html/structros_1_1AdvertiseOptions.html) pub_link_states_ao = ros::AdvertiseOptions::create<gazebo_msgs::LinkStates>(
    00582         "link_states",10,
    00583         boost::bind(&[GazeboROSNode::onLinkStatesConnect](classGazeboROSNode.html#a9c086eaf15bf91f160990d761845f7dd),this),
    00584         boost::bind(&[GazeboROSNode::onLinkStatesDisconnect](classGazeboROSNode.html#a6574b2aebfd496f2884e34c45fa27926),this), ros::VoidPtr(), &this->[gazebo_queue_](classGazeboROSNode.html#aaad18c9d54a8736ea6337821de03889a));
    00585       [pub_link_states_](classGazeboROSNode.html#ac591a7b9378b025c5acd7b53a59e87b5) = this->[rosnode_](classGazeboROSNode.html#ae9011736edb2ec542d7176cdddeb546d).[advertise](../../../api/roscpp/html/classros_1_1NodeHandle.html#a68232c46583059c8f7d948b154689e4c)(pub_link_states_ao);
    00586 
    00587       // publish complete model states in world frame
    00588       [ros::AdvertiseOptions](../../../api/roscpp/html/structros_1_1AdvertiseOptions.html) pub_model_states_ao = ros::AdvertiseOptions::create<gazebo_msgs::ModelStates>(
    00589         "model_states",10,
    00590         boost::bind(&[GazeboROSNode::onModelStatesConnect](classGazeboROSNode.html#a55b6baafd9670e2d80866b97fe4a0623),this),
    00591         boost::bind(&[GazeboROSNode::onModelStatesDisconnect](classGazeboROSNode.html#a15ae648d7bede494570b980d7135226b),this), ros::VoidPtr(), &this->[gazebo_queue_](classGazeboROSNode.html#aaad18c9d54a8736ea6337821de03889a));
    00592       [pub_model_states_](classGazeboROSNode.html#a9956d9b0ba56fa9ae7910588c22931e0) = this->[rosnode_](classGazeboROSNode.html#ae9011736edb2ec542d7176cdddeb546d).[advertise](../../../api/roscpp/html/classros_1_1NodeHandle.html#a68232c46583059c8f7d948b154689e4c)(pub_model_states_ao);
    00593 
    00594 
    00595 
    00596 
    00597 
    00598       // set param for use_sim_time if not set by user alread
    00599       this->[rosnode_](classGazeboROSNode.html#ae9011736edb2ec542d7176cdddeb546d).[setParam](../../../api/roscpp/html/classros_1_1NodeHandle.html#a97a2bc0564bba26ab07f0a2c0333c725)("/use_sim_time", true);
    00600 
    00601       // todo: contemplate setting environment variable ROBOT=sim here???
    00602     }
    00603 
    [00604](classGazeboROSNode.html#a9c086eaf15bf91f160990d761845f7dd)     void [onLinkStatesConnect](classGazeboROSNode.html#a9c086eaf15bf91f160990d761845f7dd)()
    00605     {
    00606       this->[pub_link_states_connection_count_](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56)++;
    00607       if (this->[pub_link_states_connection_count_](classGazeboROSNode.html#ac131709cfe171cca7a556620a9180d56) == 1) // connect on first subscriber