01067       }
    01068 
    01069       if (joint == NULL)
    01070       {
    01071         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a2a2cb7c7066864032464d6d3890f5c0f) = false;
    01072         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#aa80b144f5800e4e20b38b3038421cbb6) = "GetJointProperties: joint not found";
    01073         return false;
    01074       }
    01075       else
    01076       {
    01078         res.[type](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#aa9c32ade868063a405bbcf701bc3779c) = res.[REVOLUTE](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a3814fc0db2c495ae60a37d2fb1718af2a2af1b26c6ab433260380799e9e0573ea);
    01079 
    01080         res.[damping](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a490206645d989b4eaad69d0a8857e00d).clear(); // to be added to gazebo
    01081         //res.damping.push_back(joint->GetDamping(0));
    01082 
    01083         res.[position](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a5f5955ffefdab37df5d555602256f5e3).clear(); // use GetAngle(i)
    01084         res.[position](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a5f5955ffefdab37df5d555602256f5e3).push_back(joint->GetAngle(0).GetAsRadian());
    01085 
    01086         res.[rate](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a92c113a01fbc7d8a1a5836371da4b76b).clear(); // use GetVelocity(i)
    01087         res.[rate](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a92c113a01fbc7d8a1a5836371da4b76b).push_back(joint->GetVelocity(0));
    01088 
    01089         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#a2a2cb7c7066864032464d6d3890f5c0f) = true;
    01090         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetJointPropertiesResponse__.html#aa80b144f5800e4e20b38b3038421cbb6) = "GetJointProperties: got properties";
    01091         return true;
    01092       }
    01093     }
    01094 
    [01097](classGazeboROSNode.html#a0b81cc4d3c13b3b3e3feee801e4caa48)     bool [getLinkProperties](classGazeboROSNode.html#a0b81cc4d3c13b3b3e3feee801e4caa48)([gazebo_msgs::GetLinkProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkPropertiesRequest__.html) &req,[gazebo_msgs::GetLinkProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkPropertiesResponse__.html) &res)
    01098     {
    01099       gazebo::Body* body = dynamic_cast<gazebo::Body*>(gazebo::World::Instance()->GetEntityByName(req.[link_name](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkPropertiesRequest__.html#a093856e39c205b34f00e66d37027632a)));
    01100       if (body == NULL)
    01101       {
    01102         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkPropertiesResponse__.html#a84ce8f4df675b6924cfa52a366663e5f) = false;
    01103         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkPropertiesResponse__.html#a70abfa0b58777c634a35301a549dcc0e) = "GetLinkProperties: link not found, did you forget to scope the link by model name?";
    01104         return false;
    01105       }
    01106       else
    01107       {
    01109         res.[gravity_mode](../../gazebo_msgs/html/structgazebo__msgs_1_1GetLinkPropertiesResponse__.html#a119c48f090b86491907f33fd051b1ceb) = body->GetGravityMode();
    01110