File: gazebo/GetModelState.srv
string model_name # name of Gazebo Model
string relative_entity_name # return pose and twist relative to this entity
# an entity can be a model, body, or geom
# be sure to use gazebo notation (e.g. [model_name::body_name])
# leave empty or "world" will use inertial world frame
---
geometry_msgs/Pose pose # pose of model in relative entity frame
geometry_msgs/Twist twist # twist of model in relative entity frame
bool success # return true if get successful
string status_message # comments if available
Expanded Definition