02160         config.max_contacts                = srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.max_contacts;
    02161         [physics_reconfigure_initialized_](classGazeboROSNode.html#a2181c5f39b7ef9e85ef3382e53f66b40) = true;
    02162       }
    02163       else
    02164       {
    02165         bool changed = false;
    02166         [gazebo_msgs::GetPhysicsProperties](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html) srv;
    02167         this->[physics_reconfigure_get_client_](classGazeboROSNode.html#a7dd692c657f72627df72e9b765679a10).[call](../../../api/roscpp/html/classros_1_1ServiceClient.html#ad7f2499f8fcdc6598e284bc6094d2d77)(srv);
    02168 
    02169         // check for changes
    02170         if (config.time_step                      != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).time_step)                                 changed = true;
    02171         if (config.max_update_rate                != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).max_update_rate)                           changed = true;
    02172         if (config.gravity_x                      != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).gravity.x)                                 changed = true;
    02173         if (config.gravity_y                      != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).gravity.y)                                 changed = true;
    02174         if (config.gravity_z                      != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).gravity.z)                                 changed = true;
    02175         if (config.auto_disable_bodies            != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.auto_disable_bodies)            changed = true;
    02176         if (([uint32_t](../../../api/rxtools/html/namespacerxtools.html#a4df59b602fbf4c488b2e8eebe9a516ec))config.sor_pgs_precon_iters != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_precon_iters)           changed = true;
    02177         if (([uint32_t](../../../api/rxtools/html/namespacerxtools.html#a4df59b602fbf4c488b2e8eebe9a516ec))config.sor_pgs_iters        != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_iters)                  changed = true;
    02178         if (config.sor_pgs_rms_error_tol          != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_rms_error_tol)          changed = true;
    02179         if (config.sor_pgs_w                      != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.sor_pgs_w)                      changed = true;
    02180         if (config.contact_surface_layer          != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.contact_surface_layer)          changed = true;
    02181         if (config.contact_max_correcting_vel     != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.contact_max_correcting_vel)     changed = true;
    02182         if (config.cfm                            != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.cfm)                            changed = true;
    02183         if (config.erp                            != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.erp)                            changed = true;
    02184         if (([uint32_t](../../../api/rxtools/html/namespacerxtools.html#a4df59b602fbf4c488b2e8eebe9a516ec))config.max_contacts         != srv.[response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsProperties.html#aef0d0e922e15a50ec7d09bfb39cf321a).ode_config.max_contacts)                   changed = true;
    02185 
    02186         if (changed)
    02187         {
    02188           // pause simulation if requested
    02189           [gazebo_msgs::SetPhysicsProperties](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html) srv;
    02190           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).time_step                             = config.time_step                   ;
    02191           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).max_update_rate                       = config.max_update_rate             ;
    02192           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).gravity.x                             = config.gravity_x                   ;
    02193           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).gravity.y                             = config.gravity_y                   ;
    02194           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).gravity.z                             = config.gravity_z                   ;
    02195           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.auto_disable_bodies        = config.auto_disable_bodies         ;
    02196           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.sor_pgs_precon_iters       = config.sor_pgs_precon_iters        ;
    02197           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.sor_pgs_iters              = config.sor_pgs_iters               ;
    02198           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.sor_pgs_rms_error_tol      = config.sor_pgs_rms_error_tol       ;
    02199           srv.[request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsProperties.html#a22bea3bf369b87d15113cb3d76cf3ae3).ode_config.sor_pgs_w                  = config.sor_pgs_w                   ;