00815       std::string xmlString = this->[xmlPrefix_](classGazeboROSNode.html#a56a97753f6fc5e55f80bc9dd4365cf9f "prefix and suffix used for conversion from URDF to Gazebo XML") + xmlMiddle + this->[xmlSuffix_](classGazeboROSNode.html#a82f7515450366bb2ed7701429eaba99b);
    00816       {
    00817         boost::recursive_mutex::scoped_lock mrlock(*gazebo::Simulator::Instance()->GetMRMutex());
    00818         gazebo::World::Instance()->InsertEntity(xmlString);
    00819       }
    00820 
    00821       // process spawning
    00822       //gazebo::World::Instance()->ProcessEntitiesToLoad();
    00823 
    00825       [ros::Duration](../../../api/rostime/html/classros_1_1Duration.html) model_spawn_timeout(60.0);
    00826       [ros::Time](../../../api/rostime/html/classros_1_1Time.html) timeout = [ros::Time::now](../../../api/rostime/html/classros_1_1Time.html#a4652034e29ceebf378d5930ff5914c0c)() + model_spawn_timeout;
    00827       while (true)
    00828       {
    00829         if ([ros::Time::now](../../../api/rostime/html/classros_1_1Time.html#a4652034e29ceebf378d5930ff5914c0c)() > timeout)
    00830         {
    00831           res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelResponse__.html#a5ec6d9587b9a10ddc10ec198d41ccd62) = false;
    00832           res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelResponse__.html#acb4913011a74e88bdac7e11d173d8a7b) = std::string("SpawnModel: Model pushed to spawn queue, but spawn service timed out waiting for model to appear in simulation");
    00833           return false;
    00834         }
    00835         {
    00836           boost::recursive_mutex::scoped_lock lock(*gazebo::Simulator::Instance()->GetMRMutex());
    00837           if (gazebo::World::Instance()->GetEntityByName(model_name)) break;
    00838         }
    00839         [ROS_DEBUG](../../../api/rosconsole/html/macros__generated_8h.html#a83228c0b42c80605abdd0f42af64b1f7)("Waiting for spawning model (%s)",model_name.c_str());
    00840         usleep(1000);
    00841       }
    00842 
    00843       // set result
    00844       res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelResponse__.html#a5ec6d9587b9a10ddc10ec198d41ccd62) = true;
    00845       res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SpawnModelResponse__.html#acb4913011a74e88bdac7e11d173d8a7b) = std::string("SpawnModel: successfully spawned model");
    00846       return true;
    00847 
    00848     }
    00849 
    [00852](classGazeboROSNode.html#aa2df2752fb37a98ee82d41ea2aa2bb11)     bool [deleteModel](classGazeboROSNode.html#aa2df2752fb37a98ee82d41ea2aa2bb11 "delete model given name")([gazebo_msgs::DeleteModel::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelRequest__.html) &req,[gazebo_msgs::DeleteModel::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelResponse__.html) &res)
    00853     {
    00854       // clear forces, etc for the body in question
    00855 
    00856       gazebo::Model* model = dynamic_cast<gazebo::Model*>(gazebo::World::Instance()->GetEntityByName(req.[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1DeleteModelRequest__.html#ae6bbe17db56816c9331ef6bf466e5f21)));
    00857       if (!model)