gazebo_ros_api_plugin.cpp

Go to the documentation of this file.

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

/* Desc: External interfaces for Gazebo
 * Author: John Hsu adapted original gazebo main.cc by Nate Koenig
 * Date: 25 Apr 2010
 * SVN: $Id: main.cc 8598 2010-03-22 21:59:24Z hsujohnhsu $
 */

#include "common/Events.hh"
#include <gazebo/gazebo_ros_api_plugin.h>
#include <gazebo/urdf2gazebo.h>

namespace gazebo
{

    GazeboRosApiPlugin::GazeboRosApiPlugin()
    {
      this->world_created_ = false;
    }

    GazeboRosApiPlugin::~GazeboRosApiPlugin()
    {
      // disconnect slots
      gazebo::event::Events::DisconnectWorldUpdateStart(this->wrench_update_event_);
      gazebo::event::Events::DisconnectWorldUpdateStart(this->force_update_event_);
      gazebo::event::Events::DisconnectWorldUpdateStart(this->time_update_event_);

      if (this->pub_link_states_connection_count_ > 0) // disconnect if there are subscribers on exit
        gazebo::event::Events::DisconnectWorldUpdateStart(this->pub_link_states_event_);
      if (this->pub_model_states_connection_count_ > 0) // disconnect if there are subscribers on exit
        gazebo::event::Events::DisconnectWorldUpdateStart(this->pub_model_states_event_);

      // shutdown ros
      this->rosnode_->shutdown();
      delete this->rosnode_;

      // shutdown ros queue
      this->gazebo_callback_queue_thread_->join();
      delete this->gazebo_callback_queue_thread_;

      this->physics_reconfigure_thread_->join();
      delete this->physics_reconfigure_thread_;

      this->ros_spin_thread_->join();
      delete this->ros_spin_thread_;

      /* Delete Force and Wrench Jobs */
      this->lock_.lock();
      for (std::vector<GazeboRosApiPlugin::ForceJointJob*>::iterator iter=this->force_joint_jobs.begin();iter!=this->force_joint_jobs.end();)
      {
        delete (*iter);
        this->force_joint_jobs.erase(iter);
      }
      for (std::vector<GazeboRosApiPlugin::WrenchBodyJob*>::iterator iter=this->wrench_body_jobs.begin();iter!=this->wrench_body_jobs.end();)
      {
        delete (*iter);
        this->wrench_body_jobs.erase(iter);
      }
      this->lock_.unlock();
    }

    void GazeboRosApiPlugin::Load(int argc, char** argv)
    {
      // setup ros related
      if (!ros::isInitialized())
        ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler);
      else
        ROS_ERROR("Something other than this gazebo_ros_api plugin started ros::init(...), command line arguments may not be parsed properly.");

      this->rosnode_ = new ros::NodeHandle("~");

      gazebo_callback_queue_thread_ = new boost::thread( &GazeboRosApiPlugin::gazeboQueueThread,this );

      this->physics_reconfigure_thread_ = new boost::thread(boost::bind(&GazeboRosApiPlugin::PhysicsReconfigureNode, this));
      this->physics_reconfigure_initialized_ = false;

      // below needs the world to be created first
      this->load_gazebo_ros_api_plugin_event_ = gazebo::event::Events::ConnectWorldCreated(boost::bind(&GazeboRosApiPlugin::LoadGazeboRosApiPlugin,this,_1));
    }

    void GazeboRosApiPlugin::LoadGazeboRosApiPlugin(std::string _worldName)
    {
      // make sure things are only called once
      gazebo::event::Events::DisconnectWorldCreated(this->load_gazebo_ros_api_plugin_event_);
      this->lock_.lock();
      if (this->world_created_)
      {
        this->lock_.unlock();
        return;
      }

      // set flag to true and load this plugin
      this->world_created_ = true;
      this->lock_.unlock();


      this->world = gazebo::physics::get_world(_worldName);
      if (!this->world)
      {
        //ROS_ERROR("world name: [%s]",this->world->GetName().c_str());
        // connect helper function to signal for scheduling torque/forces, etc
        ROS_FATAL("cannot load gazebo ros api server plugin, physics::get_world() fails to return world");
        return;
      }

      this->gazebonode_ = gazebo::transport::NodePtr(new gazebo::transport::Node());
      this->gazebonode_->Init(_worldName);
      //this->stat_sub_ = this->gazebonode_->Subscribe("~/world_stats", &GazeboRosApiPlugin::publishSimTime, this); // TODO: does not work in server plugin?
      this->factory_pub_ = this->gazebonode_->Advertise<gazebo::msgs::Factory>("~/factory");
      this->request_pub_ = this->gazebonode_->Advertise<gazebo::msgs::Request>("~/request");
      this->response_sub_ = this->gazebonode_->Subscribe("~/response",&GazeboRosApiPlugin::OnResponse, this);

      // reset topic connection counts
      this->pub_link_states_connection_count_ = 0;
      this->pub_model_states_connection_count_ = 0;

      this->AdvertiseServices();

      // hooks for applying forces, publishing simtime on /clock
      this->wrench_update_event_ = gazebo::event::Events::ConnectWorldUpdateStart(boost::bind(&GazeboRosApiPlugin::wrenchBodySchedulerSlot,this));
      this->force_update_event_  = gazebo::event::Events::ConnectWorldUpdateStart(boost::bind(&GazeboRosApiPlugin::forceJointSchedulerSlot,this));
      this->time_update_event_   = gazebo::event::Events::ConnectWorldUpdateStart(boost::bind(&GazeboRosApiPlugin::publishSimTime,this));

      // spin ros, is this needed?
      this->ros_spin_thread_ = new boost::thread(boost::bind(&GazeboRosApiPlugin::spin, this));

    }

    void GazeboRosApiPlugin::OnResponse(ConstResponsePtr &_response)
    {
      
    }

    void GazeboRosApiPlugin::gazeboQueueThread()
    {
      ROS_DEBUG_STREAM("Callback thread id=" << boost::this_thread::get_id());
      static const double timeout = 0.001;
      while (this->rosnode_->ok())
        this->gazebo_queue_.callAvailable(ros::WallDuration(timeout));
    }

    void GazeboRosApiPlugin::AdvertiseServices()
    {
      // publish clock for simulated ros time
      pub_clock_ = this->rosnode_->advertise<rosgraph_msgs::Clock>("/clock",10);

      // Advertise spawn services on the custom queue
      std::string spawn_gazebo_model_service_name("spawn_gazebo_model");
      ros::AdvertiseServiceOptions spawn_gazebo_model_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SpawnModel>(
          spawn_gazebo_model_service_name,boost::bind(&GazeboRosApiPlugin::spawnGazeboModel,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      spawn_urdf_gazebo_service_ = this->rosnode_->advertiseService(spawn_gazebo_model_aso);

      // Advertise spawn services on the custom queue
      std::string spawn_urdf_model_service_name("spawn_urdf_model");
      ros::AdvertiseServiceOptions spawn_urdf_model_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SpawnModel>(
          spawn_urdf_model_service_name,boost::bind(&GazeboRosApiPlugin::spawnURDFModel,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      spawn_urdf_model_service_ = this->rosnode_->advertiseService(spawn_urdf_model_aso);

      // Advertise delete services on the custom queue
      std::string delete_model_service_name("delete_model");
      ros::AdvertiseServiceOptions delete_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::DeleteModel>(
          delete_model_service_name,boost::bind(&GazeboRosApiPlugin::deleteModel,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      delete_model_service_ = this->rosnode_->advertiseService(delete_aso);

      // Advertise more services on the custom queue
      std::string get_model_properties_service_name("get_model_properties");
      ros::AdvertiseServiceOptions get_model_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetModelProperties>(
          get_model_properties_service_name,boost::bind(&GazeboRosApiPlugin::getModelProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_model_properties_service_ = this->rosnode_->advertiseService(get_model_properties_aso);

      // Advertise more services on the custom queue
      std::string get_model_state_service_name("get_model_state");
      ros::AdvertiseServiceOptions get_model_state_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetModelState>(
          get_model_state_service_name,boost::bind(&GazeboRosApiPlugin::getModelState,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_model_state_service_ = this->rosnode_->advertiseService(get_model_state_aso);

      // Advertise more services on the custom queue
      std::string get_world_properties_service_name("get_world_properties");
      ros::AdvertiseServiceOptions get_world_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetWorldProperties>(
          get_world_properties_service_name,boost::bind(&GazeboRosApiPlugin::getWorldProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_world_properties_service_ = this->rosnode_->advertiseService(get_world_properties_aso);

      // Advertise more services on the custom queue
      std::string get_joint_properties_service_name("get_joint_properties");
      ros::AdvertiseServiceOptions get_joint_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetJointProperties>(
          get_joint_properties_service_name,boost::bind(&GazeboRosApiPlugin::getJointProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_joint_properties_service_ = this->rosnode_->advertiseService(get_joint_properties_aso);

      // Advertise more services on the custom queue
      std::string get_link_properties_service_name("get_link_properties");
      ros::AdvertiseServiceOptions get_link_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetLinkProperties>(
          get_link_properties_service_name,boost::bind(&GazeboRosApiPlugin::getLinkProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_link_properties_service_ = this->rosnode_->advertiseService(get_link_properties_aso);

      // Advertise more services on the custom queue
      std::string get_link_state_service_name("get_link_state");
      ros::AdvertiseServiceOptions get_link_state_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetLinkState>(
          get_link_state_service_name,boost::bind(&GazeboRosApiPlugin::getLinkState,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_link_state_service_ = this->rosnode_->advertiseService(get_link_state_aso);

      // Advertise more services on the custom queue
      std::string set_link_properties_service_name("set_link_properties");
      ros::AdvertiseServiceOptions set_link_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SetLinkProperties>(
          set_link_properties_service_name,boost::bind(&GazeboRosApiPlugin::setLinkProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      set_link_properties_service_ = this->rosnode_->advertiseService(set_link_properties_aso);

      // Advertise more services on the custom queue
      std::string set_physics_properties_service_name("set_physics_properties");
      ros::AdvertiseServiceOptions set_physics_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SetPhysicsProperties>(
          set_physics_properties_service_name,boost::bind(&GazeboRosApiPlugin::setPhysicsProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      set_physics_properties_service_ = this->rosnode_->advertiseService(set_physics_properties_aso);

      // Advertise more services on the custom queue
      std::string get_physics_properties_service_name("get_physics_properties");
      ros::AdvertiseServiceOptions get_physics_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::GetPhysicsProperties>(
          get_physics_properties_service_name,boost::bind(&GazeboRosApiPlugin::getPhysicsProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      get_physics_properties_service_ = this->rosnode_->advertiseService(get_physics_properties_aso);

      // Advertise more services on the custom queue
      std::string apply_body_wrench_service_name("apply_body_wrench");
      ros::AdvertiseServiceOptions apply_body_wrench_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::ApplyBodyWrench>(
          apply_body_wrench_service_name,boost::bind(&GazeboRosApiPlugin::applyBodyWrench,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      apply_body_wrench_service_ = this->rosnode_->advertiseService(apply_body_wrench_aso);

      // Advertise more services on the custom queue
      std::string set_model_state_service_name("set_model_state");
      ros::AdvertiseServiceOptions set_model_state_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SetModelState>(
          set_model_state_service_name,boost::bind(&GazeboRosApiPlugin::setModelState,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      set_model_state_service_ = this->rosnode_->advertiseService(set_model_state_aso);

      // Advertise more services on the custom queue
      std::string apply_joint_effort_service_name("apply_joint_effort");
      ros::AdvertiseServiceOptions apply_joint_effort_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::ApplyJointEffort>(
          apply_joint_effort_service_name,boost::bind(&GazeboRosApiPlugin::applyJointEffort,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      apply_joint_effort_service_ = this->rosnode_->advertiseService(apply_joint_effort_aso);

      // Advertise more services on the custom queue
      std::string set_joint_properties_service_name("set_joint_properties");
      ros::AdvertiseServiceOptions set_joint_properties_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SetJointProperties>(
          set_joint_properties_service_name,boost::bind(&GazeboRosApiPlugin::setJointProperties,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      set_joint_properties_service_ = this->rosnode_->advertiseService(set_joint_properties_aso);

      // Advertise more services on the custom queue
      std::string set_model_configuration_service_name("set_model_configuration");
      ros::AdvertiseServiceOptions set_model_configuration_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SetModelConfiguration>(
          set_model_configuration_service_name,boost::bind(&GazeboRosApiPlugin::setModelConfiguration,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      set_model_configuration_service_ = this->rosnode_->advertiseService(set_model_configuration_aso);

      // Advertise more services on the custom queue
      std::string set_link_state_service_name("set_link_state");
      ros::AdvertiseServiceOptions set_link_state_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::SetLinkState>(
          set_link_state_service_name,boost::bind(&GazeboRosApiPlugin::setLinkState,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      set_link_state_service_ = this->rosnode_->advertiseService(set_link_state_aso);

      // Advertise more services on the custom queue
      std::string reset_simulation_service_name("reset_simulation");
      ros::AdvertiseServiceOptions reset_simulation_aso = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
          reset_simulation_service_name,boost::bind(&GazeboRosApiPlugin::resetSimulation,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      reset_simulation_service_ = this->rosnode_->advertiseService(reset_simulation_aso);

      // Advertise more services on the custom queue
      std::string reset_world_service_name("reset_world");
      ros::AdvertiseServiceOptions reset_world_aso = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
          reset_world_service_name,boost::bind(&GazeboRosApiPlugin::resetWorld,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      reset_world_service_ = this->rosnode_->advertiseService(reset_world_aso);

      // Advertise more services on the custom queue
      std::string pause_physics_service_name("pause_physics");
      ros::AdvertiseServiceOptions pause_physics_aso = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
          pause_physics_service_name,boost::bind(&GazeboRosApiPlugin::pausePhysics,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      pause_physics_service_ = this->rosnode_->advertiseService(pause_physics_aso);

      // Advertise more services on the custom queue
      std::string unpause_physics_service_name("unpause_physics");
      ros::AdvertiseServiceOptions unpause_physics_aso = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
          unpause_physics_service_name,boost::bind(&GazeboRosApiPlugin::unpausePhysics,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      unpause_physics_service_ = this->rosnode_->advertiseService(unpause_physics_aso);

      // Advertise more services on the custom queue
      std::string clear_joint_forces_service_name("clear_joint_forces");
      ros::AdvertiseServiceOptions clear_joint_forces_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::JointRequest>(
          clear_joint_forces_service_name,boost::bind(&GazeboRosApiPlugin::clearJointForces,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      clear_joint_forces_service_ = this->rosnode_->advertiseService(clear_joint_forces_aso);

      // Advertise more services on the custom queue
      std::string clear_body_wrenches_service_name("clear_body_wrenches");
      ros::AdvertiseServiceOptions clear_body_wrenches_aso = ros::AdvertiseServiceOptions::create<gazebo_msgs::BodyRequest>(
          clear_body_wrenches_service_name,boost::bind(&GazeboRosApiPlugin::clearBodyWrenches,this,_1,_2),
          ros::VoidPtr(), &this->gazebo_queue_);
      clear_body_wrenches_service_ = this->rosnode_->advertiseService(clear_body_wrenches_aso);

      // Advertise topic on custom queue
      // topic callback version for set_link_state
      ros::SubscribeOptions link_state_so = ros::SubscribeOptions::create<gazebo_msgs::LinkState>(
        "set_link_state",10, boost::bind( &GazeboRosApiPlugin::updateLinkState,this,_1),
        ros::VoidPtr(), &this->gazebo_queue_);
      set_link_state_topic_ = this->rosnode_->subscribe(link_state_so);

      // topic callback version for set_model_state
      ros::SubscribeOptions model_state_so = ros::SubscribeOptions::create<gazebo_msgs::ModelState>(
        "set_model_state",10, boost::bind( &GazeboRosApiPlugin::updateModelState,this,_1),
        ros::VoidPtr(), &this->gazebo_queue_);
      set_model_state_topic_ = this->rosnode_->subscribe(model_state_so);

      // publish complete link states in world frame
      ros::AdvertiseOptions pub_link_states_ao = ros::AdvertiseOptions::create<gazebo_msgs::LinkStates>(
        "link_states",10,
        boost::bind(&GazeboRosApiPlugin::onLinkStatesConnect,this),
        boost::bind(&GazeboRosApiPlugin::onLinkStatesDisconnect,this), ros::VoidPtr(), &this->gazebo_queue_);
      pub_link_states_ = this->rosnode_->advertise(pub_link_states_ao);

      // publish complete model states in world frame
      ros::AdvertiseOptions pub_model_states_ao = ros::AdvertiseOptions::create<gazebo_msgs::ModelStates>(
        "model_states",10,
        boost::bind(&GazeboRosApiPlugin::onModelStatesConnect,this),
        boost::bind(&GazeboRosApiPlugin::onModelStatesDisconnect,this), ros::VoidPtr(), &this->gazebo_queue_);
      pub_model_states_ = this->rosnode_->advertise(pub_model_states_ao);

      // set param for use_sim_time if not set by user alread
      this->rosnode_->setParam("/use_sim_time", true);

      // todo: contemplate setting environment variable ROBOT=sim here???

    }

    void GazeboRosApiPlugin::onLinkStatesConnect()
    {
      this->pub_link_states_connection_count_++;
      if (this->pub_link_states_connection_count_ == 1) // connect on first subscriber
        this->pub_link_states_event_   = gazebo::event::Events::ConnectWorldUpdateStart(boost::bind(&GazeboRosApiPlugin::publishLinkStates,this));
    }
    void GazeboRosApiPlugin::onModelStatesConnect()
    {
      this->pub_model_states_connection_count_++;
      if (this->pub_model_states_connection_count_ == 1) // connect on first subscriber
        this->pub_model_states_event_   = gazebo::event::Events::ConnectWorldUpdateStart(boost::bind(&GazeboRosApiPlugin::publishModelStates,this));
    }
    void GazeboRosApiPlugin::onLinkStatesDisconnect()
    {
      this->pub_link_states_connection_count_--;
      if (this->pub_link_states_connection_count_ <= 0) // disconnect with no subscribers
      {
        gazebo::event::Events::DisconnectWorldUpdateStart(this->pub_link_states_event_);
        if (this->pub_link_states_connection_count_ < 0) // should not be possible
          ROS_ERROR("one too mandy disconnect from pub_link_states_ in gazebo_ros.cpp? something weird");
      }
    }
    void GazeboRosApiPlugin::onModelStatesDisconnect()
    {
      this->pub_model_states_connection_count_--;
      if (this->pub_model_states_connection_count_ <= 0) // disconnect with no subscribers
      {
        gazebo::event::Events::DisconnectWorldUpdateStart(this->pub_model_states_event_);
        if (this->pub_model_states_connection_count_ < 0) // should not be possible
          ROS_ERROR("one too mandy disconnect from pub_model_states_ in gazebo_ros.cpp? something weird");
      }
    }

    bool GazeboRosApiPlugin::spawnURDFModel(gazebo_msgs::SpawnModel::Request &req,gazebo_msgs::SpawnModel::Response &res)
    {
      // get flag on joint limits
      bool enforce_limits = true; //option to add req.enforce_limits??

      // get name space for the corresponding model plugins
      std::string robot_namespace = req.robot_namespace;

      // incoming robot name
      std::string model_name = req.model_name;

      // incoming robot model string
      std::string model_xml = req.model_xml;

      if (!this->IsURDF(model_xml))
      {
        ROS_ERROR("SpawnModel: Failure - model format is not URDF.");
        res.success = false;
        res.status_message = "SpawnModel: Failure - model format is not URDF.";
        return false;
      }

      std::string open_bracket("<?");
      std::string close_bracket("?>");
      size_t pos1 = model_xml.find(open_bracket,0);
      size_t pos2 = model_xml.find(close_bracket,0);
      if (pos1 != std::string::npos && pos2 != std::string::npos)
        model_xml.replace(pos1,pos2-pos1+2,std::string(""));

      ROS_DEBUG("Model XML\n\n%s\n\n ",model_xml.c_str());

      urdf2gazebo::URDF2Gazebo u2g;
      TiXmlDocument model_xml_doc;
      model_xml_doc.Parse(model_xml.c_str());
      TiXmlDocument gazebo_model_xml;
      // initial xyz and rpy are empty, will be inserted in spawnGazeboModel
      if (!u2g.convert(model_xml_doc, gazebo_model_xml, enforce_limits, urdf::Vector3(), urdf::Vector3(), model_name, robot_namespace))
      {
        // set result
        res.success = false;
        res.status_message = std::string("SpawnModel: urdf2gazebo conversion failed.");
        return false;
      }

      // push to factory iface
      std::ostringstream stream;
      stream << gazebo_model_xml;
      std::string gazebo_model_xml_string = stream.str();
      ROS_DEBUG("Gazebo Model XML\n\n%s\n\n ",gazebo_model_xml_string.c_str());
      req.model_xml = gazebo_model_xml_string;

      // publish gazebo model on parameter server as [robot_namespace]/gazebo/[model name]/robot_description
      // this->rosnode_->setParam(robot_namespace+std::string("/gazebo/")+model_name+std::string("/robot_description"),gazebo_model_xml_string);

      return spawnGazeboModel(req,res);
    }

    bool GazeboRosApiPlugin::spawnGazeboModel(gazebo_msgs::SpawnModel::Request &req,gazebo_msgs::SpawnModel::Response &res)
    {
      // incoming robot name
      std::string model_name = req.model_name;

      // get name space for the corresponding model plugins
      std::string robot_namespace = req.robot_namespace;

      // get initial pose of model
      gazebo::math::Vector3 initial_xyz(req.initial_pose.position.x,req.initial_pose.position.y,req.initial_pose.position.z);
      // get initial roll pitch yaw (fixed frame transform)
      gazebo::math::Quaternion initial_q(req.initial_pose.orientation.w,req.initial_pose.orientation.x,req.initial_pose.orientation.y,req.initial_pose.orientation.z);

      // refernce frame for initial pose definition, modify initial pose if defined
      gazebo::physics::LinkPtr frame = boost::shared_dynamic_cast<gazebo::physics::Link>(this->world->GetEntity(req.reference_frame));
      if (frame)
      {
        // convert to relative pose
        gazebo::math::Pose frame_pose = frame->GetWorldPose();
        initial_xyz = frame_pose.rot.RotateVector(initial_xyz);
        initial_xyz += frame_pose.pos;
        initial_q *= frame_pose.rot;
      }

      else if (req.reference_frame == "" || req.reference_frame == "world" || req.reference_frame == "map" || req.reference_frame == "/map")
      {
          ROS_DEBUG("SpawnModel: reference_frame is empty/world/map, using inertial frame");
      }
      else
      {
        res.success = false;
        res.status_message = "SpawnModel: reference reference_frame not found, did you forget to scope the link by model name?";
        return false;
      }

      // incoming robot model string
      std::string model_xml = req.model_xml;

      // store resulting Gazebo Model XML to be sent to spawn queue
      // get incoming string containg either an URDF or a Gazebo Model XML
      // grab from parameter server if necessary
      // convert to Gazebo Model XML if necessary
      if (!this->IsGazeboModelXML(model_xml) && !IsSDF(model_xml))
      {
        ROS_ERROR("GazeboRosApiPlugin SpawnModel Failure: input model_xml not Gazebo XML, or cannot be converted to Gazebo XML");
        res.success = false;
        res.status_message = std::string("GazeboRosApiPlugin SpawnModel Failure: input model_xml not Gazebo XML, or cannot be converted to Gazebo XML");
        return false;
      }


      // incoming robot model string is a string containing a Gazebo Model XML
      std::string open_bracket("<?");
      std::string close_bracket("?>");
      size_t pos1 = model_xml.find(open_bracket,0);
      size_t pos2 = model_xml.find(close_bracket,0);
      if (pos1 != std::string::npos && pos2 != std::string::npos)
        model_xml.replace(pos1,pos2-pos1+2,std::string(""));

      // put string in TiXmlDocument for manipulation
      TiXmlDocument gazebo_model_xml;
      gazebo_model_xml.Parse(model_xml.c_str());

      // optional model manipulations:
      //  * update initial pose
      //  * replace model name
      if (gazebo_model_xml.FirstChildElement("model:physical")) // old gazebo pre 1.0.0
      {
        TiXmlElement* model_tixml = gazebo_model_xml.FirstChildElement("model:physical"); // old gazebo pre 1.0.0
        // replace initial pose of robot
        // find first instance of xyz and rpy, replace with initial pose
        TiXmlElement* xyz_key = model_tixml->FirstChildElement("xyz");
        if (xyz_key)
          model_tixml->RemoveChild(xyz_key);
        TiXmlElement* rpy_key = model_tixml->FirstChildElement("rpy");
        if (rpy_key)
          model_tixml->RemoveChild(rpy_key);

        xyz_key = new TiXmlElement("xyz");
        rpy_key = new TiXmlElement("rpy");

        std::ostringstream xyz_stream, rpy_stream;
        xyz_stream << initial_xyz.x << " " << initial_xyz.y << " " << initial_xyz.z;
        gazebo::math::Vector3 initial_rpy = initial_q.GetAsEuler(); // convert to Euler angles for Gazebo XML
        rpy_stream << initial_rpy.x*180.0/M_PI << " " << initial_rpy.y*180.0/M_PI << " " << initial_rpy.z*180.0/M_PI; // convert to degrees for Gazebo (though ROS is in Radians)


        TiXmlText* xyz_txt = new TiXmlText(xyz_stream.str());
        TiXmlText* rpy_txt = new TiXmlText(rpy_stream.str());

        xyz_key->LinkEndChild(xyz_txt);
        rpy_key->LinkEndChild(rpy_txt);

        model_tixml->LinkEndChild(xyz_key);
        model_tixml->LinkEndChild(rpy_key);

        // replace model name if one is specified by the user
        model_tixml->RemoveAttribute("name");
        model_tixml->SetAttribute("name",model_name);

      }
      else if (gazebo_model_xml.FirstChildElement("gazebo")) // is sdf
      {
        TiXmlElement* model_tixml = (gazebo_model_xml.FirstChildElement("gazebo"))->FirstChildElement("model");
        if (model_tixml)
        {
          // replace initial pose of robot
          // find first instance of xyz and rpy, replace with initial pose
          TiXmlElement* origin_key = model_tixml->FirstChildElement("origin");

          if (!origin_key)
          {
            origin_key = new TiXmlElement("origin");
            model_tixml->LinkEndChild(origin_key);
          }

          std::ostringstream origin_stream;
          gazebo::math::Vector3 initial_rpy = initial_q.GetAsEuler(); // convert to Euler angles for Gazebo XML
          origin_stream << initial_xyz.x << " " << initial_xyz.y << " " << initial_xyz.z << " "
                        << initial_rpy.x << " " << initial_rpy.y << " " << initial_rpy.z;

          origin_key->SetAttribute("pose",origin_stream.str());

          // replace model name if one is specified by the user
          model_tixml->RemoveAttribute("name");
          model_tixml->SetAttribute("name",model_name);
        }
        else
          ROS_WARN("could not find <model> element in sdf, so name and initial position is not applied");
      }
      else
        ROS_WARN("could not find <model> element, so name and initial position is not applied");

      // push to factory iface
      std::ostringstream stream;
      stream << gazebo_model_xml;
      std::string gazebo_model_xml_string = stream.str();
      ROS_DEBUG("Gazebo Model XML\n\n%s\n\n ",gazebo_model_xml_string.c_str());

      // publish to factory topic
      gazebo::msgs::Factory msg;
      gazebo::msgs::Init(msg, "spawn_model");
      msg.set_sdf( gazebo_model_xml_string );

      //ROS_ERROR("attempting to spawn model name [%s] [%s]", model_name.c_str(),gazebo_model_xml_string.c_str());

      // FIXME: should use entity_info or add lock to World::receiveMutex
      // looking for Model to see if it exists already
      gazebo::msgs::Request *entity_info_msg = gazebo::msgs::CreateRequest("entity_info",req.model_name);
      this->request_pub_->Publish(*entity_info_msg,true);
      // todo: should wait for response response_sub_, check to see that if _msg->response == "nonexistant"
      
      gazebo::physics::ModelPtr model = this->world->GetModel(model_name);
      if (model)
      {
        ROS_ERROR("SpawnModel: Failure - model name %s already exist.",model_name.c_str());
        res.success = false;
        res.status_message = "SpawnModel: Failure - model already exists.";
        return false;
      }

      // Publish the factory message
      this->factory_pub_->Publish(msg);


      ros::Duration model_spawn_timeout(60.0);
      ros::Time timeout = ros::Time::now() + model_spawn_timeout;
      while (true)
      {
        if (ros::Time::now() > timeout)
        {
          res.success = false;
          res.status_message = std::string("SpawnModel: Model pushed to spawn queue, but spawn service timed out waiting for model to appear in simulation");
          return false;
        }
        {
          //boost::recursive_mutex::scoped_lock lock(*this->world->GetMRMutex());
          if (this->world->GetModel(model_name)) break;
        }
        ROS_DEBUG("Waiting for spawning model (%s)",model_name.c_str());
        usleep(1000);
      }

      // set result
      res.success = true;
      res.status_message = std::string("SpawnModel: successfully spawned model");
      return true;
    }

    bool GazeboRosApiPlugin::deleteModel(gazebo_msgs::DeleteModel::Request &req,gazebo_msgs::DeleteModel::Response &res)
    {

      // clear forces, etc for the body in question
      gazebo::physics::ModelPtr model = this->world->GetModel(req.model_name);
      if (!model)
      {
        ROS_ERROR("DeleteModel: model [%s] does not exist",req.model_name.c_str());
        res.success = false;
        res.status_message = "DeleteModel: model does not exist";
        return false;
      }

      // delete wrench jobs on bodies
      for (unsigned int i = 0 ; i < model->GetChildCount(); i ++)
      {
        gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(model->GetChild(i));
        if (body)
        {
          // look for it in jobs, delete body wrench jobs
          this->clearBodyWrenches(body->GetScopedName());
        }
      }

      // delete force jobs on joints
      for (unsigned int i=0;i< model->GetJointCount(); i++)
      {
        gazebo::physics::JointPtr joint = model->GetJoint(i);
        // look for it in jobs, delete joint force jobs
        this->clearJointForces(joint->GetName());
      }

      // clear entity from selection @todo: need to clear links if selected individually
      gazebo::event::Events::setSelectedEntity(req.model_name);
      // send delete model request
      gazebo::msgs::Request *msg = gazebo::msgs::CreateRequest("entity_delete",req.model_name);
      this->request_pub_->Publish(*msg,true);

      ros::Duration model_spawn_timeout(60.0);
      ros::Time timeout = ros::Time::now() + model_spawn_timeout;
      // wait and verify that model is deleted
      while (true)
      {
        if (ros::Time::now() > timeout)
        {
          res.success = false;
          res.status_message = std::string("DeleteModel: Model pushed to delete queue, but delete service timed out waiting for model to disappear from simulation");
          return false;
        }
        {
          //boost::recursive_mutex::scoped_lock lock(*this->world->GetMRMutex());
          if (!this->world->GetModel(req.model_name)) break;
        }
        ROS_DEBUG("Waiting for model deletion (%s)",req.model_name.c_str());
        usleep(1000);
      }

      // set result
      res.success = true;
      res.status_message = std::string("DeleteModel: successfully deleted model");
      return true;
    }

    bool GazeboRosApiPlugin::getModelState(gazebo_msgs::GetModelState::Request &req,gazebo_msgs::GetModelState::Response &res)
    {
      gazebo::physics::ModelPtr model = this->world->GetModel(req.model_name);
      gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.relative_entity_name));
      if (!model)
      {
        ROS_ERROR("GetModelState: model [%s] does not exist",req.model_name.c_str());
        res.success = false;
        res.status_message = "GetModelState: model does not exist";
        return false;
      }
      else
      {
        // get model pose
        gazebo::math::Pose       model_pose = model->GetWorldPose();
        gazebo::math::Vector3    model_pos = model_pose.pos;
        gazebo::math::Quaternion model_rot = model_pose.rot;

        // get model twist
        gazebo::math::Vector3 model_linear_vel  = model->GetWorldLinearVel();
        gazebo::math::Vector3 model_angular_vel = model->GetWorldAngularVel();


        if (frame)
        {
          // convert to relative pose
          gazebo::math::Pose frame_pose = frame->GetWorldPose();
          model_pos = model_pos - frame_pose.pos;
          model_pos = frame_pose.rot.RotateVectorReverse(model_pos);
          model_rot *= frame_pose.rot.GetInverse();

          // convert to relative rates
          gazebo::math::Vector3 frame_vpos = frame->GetWorldLinearVel(); // get velocity in gazebo frame
          gazebo::math::Vector3 frame_veul = frame->GetWorldAngularVel(); // get velocity in gazebo frame
          model_linear_vel = frame_pose.rot.RotateVector(model_linear_vel - frame_vpos);
          model_angular_vel = frame_pose.rot.RotateVector(model_angular_vel - frame_veul);
        }
        else if (req.relative_entity_name == "" || req.relative_entity_name == "world" || req.relative_entity_name == "map" || req.relative_entity_name == "/map")
        {
            ROS_DEBUG("GetModelState: relative_entity_name is empty/world/map, using inertial frame");
        }
        else
        {
          res.success = false;
          res.status_message = "GetModelState: reference relative_entity_name not found, did you forget to scope the body by model name?";
          return false;
        }

        // fill in response
        res.pose.position.x = model_pos.x;
        res.pose.position.y = model_pos.y;
        res.pose.position.z = model_pos.z;
        res.pose.orientation.w = model_rot.w;
        res.pose.orientation.x = model_rot.x;
        res.pose.orientation.y = model_rot.y;
        res.pose.orientation.z = model_rot.z;

        res.twist.linear.x = model_linear_vel.x;
        res.twist.linear.y = model_linear_vel.y;
        res.twist.linear.z = model_linear_vel.z;
        res.twist.angular.x = model_angular_vel.x;
        res.twist.angular.y = model_angular_vel.y;
        res.twist.angular.z = model_angular_vel.z;

        res.success = true;
        res.status_message = "GetModelState: got properties";
        return true;
      }
      return true;
    }

    bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Request &req,gazebo_msgs::GetModelProperties::Response &res)
    {
      gazebo::physics::ModelPtr model = this->world->GetModel(req.model_name);
      if (!model)
      {
        ROS_ERROR("GetModelProperties: model [%s] does not exist",req.model_name.c_str());
        res.success = false;
        res.status_message = "GetModelProperties: model does not exist";
        return false;
      }
      else
      {
        // get model parent name
        gazebo::physics::ModelPtr parent_model = boost::dynamic_pointer_cast<gazebo::physics::Model>(model->GetParent());
        if (parent_model) res.parent_model_name = parent_model->GetName();

        // get list of child bodies, geoms
        res.body_names.clear();
        res.geom_names.clear();
        for (unsigned int i = 0 ; i < model->GetChildCount(); i ++)
        {
          gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(model->GetChild(i));
          if (body)
          {
            res.body_names.push_back(body->GetName());
            // get list of geoms
            for (unsigned int j = 0; j < body->GetChildCount() ; j++)
            {
              gazebo::physics::CollisionPtr geom = boost::dynamic_pointer_cast<gazebo::physics::Collision>(body->GetChild(j));
              if (geom)
                res.geom_names.push_back(geom->GetName());
            }
          }
        }

        // get list of joints
        res.joint_names.clear();
        unsigned int jc = model->GetJointCount();
        for (unsigned int i = 0; i < jc ; i++)
          res.joint_names.push_back( model->GetJoint(i)->GetName() );

        // get children model names
        res.child_model_names.clear();
        for (unsigned int j = 0; j < model->GetChildCount(); j++)
        {
          gazebo::physics::ModelPtr child_model = boost::dynamic_pointer_cast<gazebo::physics::Model>(model->GetChild(j));
          if (child_model)
            res.child_model_names.push_back(child_model->GetName() );
        }

        // is model static
        res.is_static = model->IsStatic();

        res.success = true;
        res.status_message = "GetModelProperties: got properties";
        return true;
      }
      return true;
    }

    bool GazeboRosApiPlugin::getWorldProperties(gazebo_msgs::GetWorldProperties::Request &req,gazebo_msgs::GetWorldProperties::Response &res)
    {
      res.sim_time = this->world->GetSimTime().Double();
      res.model_names.clear();
      for (unsigned int i = 0; i < this->world->GetModelCount(); i ++)
        res.model_names.push_back(this->world->GetModel(i)->GetName());
      gzerr << "disablign rendering has not been implemented, rendering is always enabled\n";
      res.rendering_enabled = true; //this->world->GetRenderEngineEnabled();
      res.success = true;
      res.status_message = "GetWorldProperties: got properties";
      return true;
    }

    bool GazeboRosApiPlugin::getJointProperties(gazebo_msgs::GetJointProperties::Request &req,gazebo_msgs::GetJointProperties::Response &res)
    {
      gazebo::physics::JointPtr joint;
      for (unsigned int i = 0; i < this->world->GetModelCount(); i ++)
      {
        joint = this->world->GetModel(i)->GetJoint(req.joint_name);
        if (joint) break;
      }

      if (joint)
      {
        res.success = false;
        res.status_message = "GetJointProperties: joint not found";
        return false;
      }
      else
      {
        res.type = res.REVOLUTE;

        res.damping.clear(); // to be added to gazebo
        //res.damping.push_back(joint->GetDamping(0));

        res.position.clear(); // use GetAngle(i)
        res.position.push_back(joint->GetAngle(0).GetAsRadian());

        res.rate.clear(); // use GetVelocity(i)
        res.rate.push_back(joint->GetVelocity(0));

        res.success = true;
        res.status_message = "GetJointProperties: got properties";
        return true;
      }
    }

    bool GazeboRosApiPlugin::getLinkProperties(gazebo_msgs::GetLinkProperties::Request &req,gazebo_msgs::GetLinkProperties::Response &res)
    {
      gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.link_name));
      if (body)
      {
        res.success = false;
        res.status_message = "GetLinkProperties: link not found, did you forget to scope the link by model name?";
        return false;
      }
      else
      {
        res.gravity_mode = body->GetGravityMode();

        res.mass = body->GetInertial()->GetMass();

        gazebo::physics::InertialPtr inertia = body->GetInertial();
        res.ixx = inertia->GetIXX();
        res.iyy = inertia->GetIYY();
        res.izz = inertia->GetIZZ();
        res.ixy = inertia->GetIXY();
        res.ixz = inertia->GetIXZ();
        res.iyz = inertia->GetIYZ();

        gazebo::math::Vector3 com = body->GetInertial()->GetCoG();
        res.com.position.x = com.x;
        res.com.position.y = com.y;
        res.com.position.z = com.z;
        res.com.orientation.x = 0; // @todo: gazebo do not support rotated inertia yet
        res.com.orientation.y = 0;
        res.com.orientation.z = 0;
        res.com.orientation.w = 1;

        res.success = true;
        res.status_message = "GetLinkProperties: got properties";
        return true;
      }
    }

    bool GazeboRosApiPlugin::getLinkState(gazebo_msgs::GetLinkState::Request &req,gazebo_msgs::GetLinkState::Response &res)
    {
      gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.link_name));
      gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.reference_frame));

      if (body)
      {
        res.success = false;
        res.status_message = "GetLinkState: link not found, did you forget to scope the link by model name?";
        return false;
      }

      // get body pose
      gazebo::math::Pose body_pose = body->GetWorldPose();
      // Get inertial rates
      gazebo::math::Vector3 body_vpos = body->GetWorldLinearVel(); // get velocity in gazebo frame
      gazebo::math::Vector3 body_veul = body->GetWorldAngularVel(); // get velocity in gazebo frame

      if (frame)
      {
        // convert to relative pose
        gazebo::math::Pose frame_pose = frame->GetWorldPose();
        body_pose.pos = body_pose.pos - frame_pose.pos;
        body_pose.pos = frame_pose.rot.RotateVectorReverse(body_pose.pos);
        body_pose.rot *= frame_pose.rot.GetInverse();

        // convert to relative rates
        gazebo::math::Vector3 frame_vpos = frame->GetWorldLinearVel(); // get velocity in gazebo frame
        gazebo::math::Vector3 frame_veul = frame->GetWorldAngularVel(); // get velocity in gazebo frame
        body_vpos = frame_pose.rot.RotateVector(body_vpos - frame_vpos);
        body_veul = frame_pose.rot.RotateVector(body_veul - frame_veul);
      }
      else if (req.reference_frame == "" || req.reference_frame == "world" || req.reference_frame == "map" || req.reference_frame == "/map")
      {
          ROS_DEBUG("GetLinkState: reference_frame is empty/world/map, using inertial frame");
      }
      else
      {
        res.success = false;
        res.status_message = "GetLinkState: reference reference_frame not found, did you forget to scope the link by model name?";
        return false;
      }

      res.link_state.link_name = req.link_name;
      res.link_state.pose.position.x = body_pose.pos.x;
      res.link_state.pose.position.y = body_pose.pos.y;
      res.link_state.pose.position.z = body_pose.pos.z;
      res.link_state.pose.orientation.x = body_pose.rot.x;
      res.link_state.pose.orientation.y = body_pose.rot.y;
      res.link_state.pose.orientation.z = body_pose.rot.z;
      res.link_state.pose.orientation.w = body_pose.rot.w;
      res.link_state.twist.linear.x = body_vpos.x;
      res.link_state.twist.linear.y = body_vpos.y;
      res.link_state.twist.linear.z = body_vpos.z;
      res.link_state.twist.angular.x = body_veul.x;
      res.link_state.twist.angular.y = body_veul.y;
      res.link_state.twist.angular.z = body_veul.x;
      res.link_state.reference_frame = req.reference_frame;

      res.success = true;
      res.status_message = "GetLinkState: got state";
      return true;
    }

    bool GazeboRosApiPlugin::setLinkProperties(gazebo_msgs::SetLinkProperties::Request &req,gazebo_msgs::SetLinkProperties::Response &res)
    {
      gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.link_name));
      if (body)
      {
        res.success = false;
        res.status_message = "SetLinkProperties: link not found, did you forget to scope the link by model name?";
        return false;
      }
      else
      {
        gazebo::physics::InertialPtr mass = body->GetInertial();
        // @todo: FIXME: add inertia matrix rotation to Gazebo
        // mass.SetInertiaRotation(gazebo::math::Quaternionion(req.com.orientation.w,res.com.orientation.x,req.com.orientation.y req.com.orientation.z));
        mass->SetCoG(gazebo::math::Vector3(req.com.position.x,req.com.position.y,req.com.position.z));
        mass->SetInertiaMatrix(req.ixx,req.iyy,req.izz,req.ixy,req.ixz,req.iyz);
        mass->SetMass(req.mass);
        body->SetGravityMode(req.gravity_mode);
        // @todo: mass change unverified
        res.success = true;
        res.status_message = "SetLinkProperties: properties set";
        return true;
      }
    }

    bool GazeboRosApiPlugin::setPhysicsProperties(gazebo_msgs::SetPhysicsProperties::Request &req,gazebo_msgs::SetPhysicsProperties::Response &res)
    {
      // pause simulation if requested
      bool is_paused = this->world->IsPaused();
      this->world->SetPaused(true);

      // supported updates
      gazebo::physics::PhysicsEnginePtr ode_pe = (this->world->GetPhysicsEngine());
      ode_pe->SetStepTime(req.time_step);
      ode_pe->SetUpdateRate(req.max_update_rate);
      ode_pe->SetGravity(gazebo::math::Vector3(req.gravity.x,req.gravity.y,req.gravity.z));

      // stuff only works in ODE right now
      ode_pe->SetAutoDisableFlag(req.ode_config.auto_disable_bodies);
      ode_pe->SetSORPGSPreconIters(req.ode_config.sor_pgs_precon_iters);
      ode_pe->SetSORPGSIters(req.ode_config.sor_pgs_iters);
      ode_pe->SetSORPGSW(req.ode_config.sor_pgs_w);
      ode_pe->SetWorldCFM(req.ode_config.cfm);
      ode_pe->SetWorldERP(req.ode_config.erp);
      ode_pe->SetContactSurfaceLayer(req.ode_config.contact_surface_layer);
      ode_pe->SetContactMaxCorrectingVel(req.ode_config.contact_max_correcting_vel);
      ode_pe->SetMaxContacts(req.ode_config.max_contacts);

      this->world->SetPaused(is_paused);

      res.success = true;
      res.status_message = "physics engine updated";
      return true;
    }

    bool GazeboRosApiPlugin::getPhysicsProperties(gazebo_msgs::GetPhysicsProperties::Request &req,gazebo_msgs::GetPhysicsProperties::Response &res)
    {
      // supported updates
      res.time_step = this->world->GetPhysicsEngine()->GetStepTime();
      res.pause = this->world->IsPaused();
      res.max_update_rate = this->world->GetPhysicsEngine()->GetUpdateRate();
      gazebo::math::Vector3 gravity = this->world->GetPhysicsEngine()->GetGravity();
      res.gravity.x = gravity.x;
      res.gravity.y = gravity.y;
      res.gravity.z = gravity.z;

      // stuff only works in ODE right now
      res.ode_config.auto_disable_bodies = this->world->GetPhysicsEngine()->GetAutoDisableFlag();
      res.ode_config.sor_pgs_precon_iters = this->world->GetPhysicsEngine()->GetSORPGSPreconIters();
      res.ode_config.sor_pgs_iters = this->world->GetPhysicsEngine()->GetSORPGSIters();
      res.ode_config.sor_pgs_w = this->world->GetPhysicsEngine()->GetSORPGSW();
      res.ode_config.contact_surface_layer = this->world->GetPhysicsEngine()->GetContactSurfaceLayer();
      res.ode_config.contact_max_correcting_vel = this->world->GetPhysicsEngine()->GetContactMaxCorrectingVel();
      res.ode_config.cfm = this->world->GetPhysicsEngine()->GetWorldCFM();
      res.ode_config.erp = this->world->GetPhysicsEngine()->GetWorldERP();
      res.ode_config.max_contacts = this->world->GetPhysicsEngine()->GetMaxContacts();

      res.success = true;
      res.status_message = "GetPhysicsProperties: got properties";
      return true;
    }

    bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Request &req,gazebo_msgs::SetJointProperties::Response &res)
    {
      gazebo::physics::JointPtr joint;
      for (unsigned int i = 0; i < this->world->GetModelCount(); i ++)
      {
        joint = this->world->GetModel(i)->GetJoint(req.joint_name);
        if (joint) break;
      }

      if (joint)
      {
        res.success = false;
        res.status_message = "SetJointProperties: joint not found";
        return false;
      }
      else
      {
        for(unsigned int i=0;i< req.ode_joint_config.damping.size();i++)
          joint->SetDamping(i,req.ode_joint_config.damping[i]);
        for(unsigned int i=0;i< req.ode_joint_config.hiStop.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::HI_STOP,i,req.ode_joint_config.hiStop[i]);
        for(unsigned int i=0;i< req.ode_joint_config.loStop.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::LO_STOP,i,req.ode_joint_config.loStop[i]);
        for(unsigned int i=0;i< req.ode_joint_config.erp.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::ERP,i,req.ode_joint_config.erp[i]);
        for(unsigned int i=0;i< req.ode_joint_config.cfm.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::CFM,i,req.ode_joint_config.cfm[i]);
        for(unsigned int i=0;i< req.ode_joint_config.stop_erp.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::STOP_ERP,i,req.ode_joint_config.stop_erp[i]);
        for(unsigned int i=0;i< req.ode_joint_config.stop_cfm.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::STOP_CFM,i,req.ode_joint_config.stop_cfm[i]);
        for(unsigned int i=0;i< req.ode_joint_config.fudge_factor.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::FUDGE_FACTOR,i,req.ode_joint_config.fudge_factor[i]);
        for(unsigned int i=0;i< req.ode_joint_config.fmax.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::FMAX,i,req.ode_joint_config.fmax[i]);
        for(unsigned int i=0;i< req.ode_joint_config.vel.size();i++)
          joint->SetAttribute(gazebo::physics::Joint::VEL,i,req.ode_joint_config.vel[i]);

        res.success = true;
        res.status_message = "SetJointProperties: properties set";
        return true;
      }
    }

    bool GazeboRosApiPlugin::setModelState(gazebo_msgs::SetModelState::Request &req,gazebo_msgs::SetModelState::Response &res)
    {
      gazebo::math::Vector3 target_pos(req.model_state.pose.position.x,req.model_state.pose.position.y,req.model_state.pose.position.z);
      gazebo::math::Quaternion target_rot(req.model_state.pose.orientation.w,req.model_state.pose.orientation.x,req.model_state.pose.orientation.y,req.model_state.pose.orientation.z);
      target_rot.Normalize(); // eliminates invalid rotation (0, 0, 0, 0)
      gazebo::math::Pose target_pose(target_pos,target_rot);
      gazebo::math::Vector3 target_pos_dot(req.model_state.twist.linear.x,req.model_state.twist.linear.y,req.model_state.twist.linear.z);
      gazebo::math::Vector3 target_rot_dot(req.model_state.twist.angular.x,req.model_state.twist.angular.y,req.model_state.twist.angular.z);

      gazebo::physics::ModelPtr model = this->world->GetModel(req.model_state.model_name);
      if (!model)
      {
        ROS_ERROR("Updating ModelState: model [%s] does not exist",req.model_state.model_name.c_str());
        res.success = false;
        res.status_message = "SetModelState: model does not exist";
        return false;
      }
      else
      {
        gazebo::physics::LinkPtr relative_entity = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.model_state.reference_frame));
        if (relative_entity)
        {
          gazebo::math::Pose  frame_pose = relative_entity->GetWorldPose(); // - this->myBody->GetCoMPose();
          gazebo::math::Vector3 frame_pos = frame_pose.pos;
          gazebo::math::Quaternion frame_rot = frame_pose.rot;

          //std::cout << " debug : " << relative_entity->GetName() << " : " << frame_pose << " : " << target_pose << std::endl;
          //target_pose = frame_pose + target_pose; // seems buggy, use my own
          target_pose.pos = frame_pos + frame_rot.RotateVector(target_pos);
          target_pose.rot = frame_rot * target_pose.rot;
        }
        else if (req.model_state.reference_frame == "" || req.model_state.reference_frame == "world" || req.model_state.reference_frame == "map" || req.model_state.reference_frame == "/map" )
        {
          ROS_DEBUG("Updating ModelState: reference frame is empty/world/map, usig inertial frame");
        }
        else
        {
          ROS_ERROR("Updating ModelState: for model[%s], specified reference frame entity [%s] does not exist",
                    req.model_state.model_name.c_str(),req.model_state.reference_frame.c_str());
          res.success = false;
          res.status_message = "SetModelState: specified reference frame entity does not exist";
          return false;
        }

        //ROS_ERROR("target state: %f %f %f",target_pose.pos.x,target_pose.pos.y,target_pose.pos.z);
        bool is_paused = this->world->IsPaused();
        this->world->SetPaused(true);
        model->SetWorldPose(target_pose);
        this->world->SetPaused(is_paused);
        //gazebo::math::Pose p3d = model->GetWorldPose();
        //ROS_ERROR("model updated state: %f %f %f",p3d.pos.x,p3d.pos.y,p3d.pos.z);

        // set model velocity
        model->SetLinearVel(target_pos_dot);
        model->SetAngularVel(target_rot_dot);

        res.success = true;
        res.status_message = "SetModelState: set model state done";
        return true;
      }
    }

    void GazeboRosApiPlugin::updateModelState(const gazebo_msgs::ModelState::ConstPtr& model_state)
    {
      gazebo_msgs::SetModelState::Response res;
      gazebo_msgs::SetModelState::Request req;
      req.model_state = *model_state;
      /*bool success =*/ this->setModelState(req,res);
    }

    bool GazeboRosApiPlugin::applyJointEffort(gazebo_msgs::ApplyJointEffort::Request &req,gazebo_msgs::ApplyJointEffort::Response &res)
    {
      gazebo::physics::JointPtr joint;
      for (unsigned int i = 0; i < this->world->GetModelCount(); i ++)
      {
        joint = this->world->GetModel(i)->GetJoint(req.joint_name);
        if (joint)
        {
          GazeboRosApiPlugin::ForceJointJob* fjj = new GazeboRosApiPlugin::ForceJointJob;
          fjj->joint = joint;
          fjj->force = req.effort;
          fjj->start_time = req.start_time;
          if (fjj->start_time < ros::Time(this->world->GetSimTime().Double()))
            fjj->start_time = ros::Time(this->world->GetSimTime().Double());
          fjj->duration = req.duration;
          this->lock_.lock();
          this->force_joint_jobs.push_back(fjj);
          this->lock_.unlock();

          res.success = true;
          res.status_message = "ApplyJointEffort: effort set";
          return true;
        }
      }

      res.success = false;
      res.status_message = "ApplyJointEffort: joint not found";
      return false;
    }

    bool GazeboRosApiPlugin::resetSimulation(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res)
    {
      this->world->Reset();
      return true;
    }

    bool GazeboRosApiPlugin::resetWorld(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res)
    {
      this->world->ResetEntities(gazebo::physics::Base::MODEL);
      return true;
    }

    bool GazeboRosApiPlugin::pausePhysics(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res)
    {
      this->world->SetPaused(true);
      return true;
    }

    bool GazeboRosApiPlugin::unpausePhysics(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res)
    {
      this->world->SetPaused(false);
      return true;
    }

    bool GazeboRosApiPlugin::clearJointForces(gazebo_msgs::JointRequest::Request &req,gazebo_msgs::JointRequest::Response &res)
    {
      return this->clearJointForces(req.joint_name);
    }
    bool GazeboRosApiPlugin::clearJointForces(std::string joint_name)
    {
      bool search = true;
      this->lock_.lock();
      while(search)
      {
        search = false;
        for (std::vector<GazeboRosApiPlugin::ForceJointJob*>::iterator iter=this->force_joint_jobs.begin();iter!=this->force_joint_jobs.end();iter++)
        {
          if ((*iter)->joint->GetName() == joint_name)
          {
            // found one, search through again
            search = true;
            delete (*iter);
            this->force_joint_jobs.erase(iter);
            break;
          }
        }
      }
      this->lock_.unlock();
      return true;
    }

    bool GazeboRosApiPlugin::clearBodyWrenches(gazebo_msgs::BodyRequest::Request &req,gazebo_msgs::BodyRequest::Response &res)
    {
      return this->clearBodyWrenches(req.body_name);
    }
    bool GazeboRosApiPlugin::clearBodyWrenches(std::string body_name)
    {
      bool search = true;
      this->lock_.lock();
      while(search)
      {
        search = false;
        for (std::vector<GazeboRosApiPlugin::WrenchBodyJob*>::iterator iter=this->wrench_body_jobs.begin();iter!=this->wrench_body_jobs.end();iter++)
        {
          //ROS_ERROR("search %s %s",(*iter)->body->GetScopedName().c_str(), body_name.c_str());
          if ((*iter)->body->GetScopedName() == body_name)
          {
            // found one, search through again
            search = true;
            delete (*iter);
            this->wrench_body_jobs.erase(iter);
            break;
          }
        }
      }
      this->lock_.unlock();
      return true;
    }

    bool GazeboRosApiPlugin::setModelConfiguration(gazebo_msgs::SetModelConfiguration::Request &req,gazebo_msgs::SetModelConfiguration::Response &res)
    {
      std::string gazebo_model_name = req.model_name;

      // search for model with name
      gazebo::physics::ModelPtr gazebo_model = this->world->GetModel(req.model_name);
      if (!gazebo_model)
      {
        ROS_ERROR("SetModelConfiguration: model [%s] does not exist",gazebo_model_name.c_str());
        res.success = false;
        res.status_message = "SetModelConfiguration: model does not exist";
        return false;
      }

      if (req.joint_names.size() == req.joint_positions.size())
      {
        std::map<std::string, double> joint_position_map;
        for (unsigned int i = 0; i < req.joint_names.size(); i++)
        {
          joint_position_map[req.joint_names[i]] = req.joint_positions[i];
        }

        // make the service call to pause gazebo
        bool is_paused = this->world->IsPaused();
        if (!is_paused) this->world->SetPaused(true);

        gazebo_model->SetJointPositions(joint_position_map);

        // resume paused state before this call
        this->world->SetPaused(is_paused);

        res.success = true;
        res.status_message = "SetModelConfiguration: success";
        return true;
      }
      else
      {
        res.success = false;
        res.status_message = "SetModelConfiguration: joint name and position list have different lengths";
        return false;
      }
    }

    bool GazeboRosApiPlugin::setLinkState(gazebo_msgs::SetLinkState::Request &req,gazebo_msgs::SetLinkState::Response &res)
    {
      gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.link_state.link_name));
      gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.link_state.reference_frame));
      if (!body)
      {
        ROS_ERROR("Updating LinkState: link [%s] does not exist",req.link_state.link_name.c_str());
        res.success = false;
        res.status_message = "SetLinkState: link does not exist";
        return false;
      }

      // get reference frame (body/model(link)) pose and
      // transform target pose to absolute world frame
      gazebo::math::Vector3 target_pos(req.link_state.pose.position.x,req.link_state.pose.position.y,req.link_state.pose.position.z);
      gazebo::math::Quaternion target_rot(req.link_state.pose.orientation.w,req.link_state.pose.orientation.x,req.link_state.pose.orientation.y,req.link_state.pose.orientation.z);
      gazebo::math::Pose target_pose(target_pos,target_rot);
      gazebo::math::Vector3 target_linear_vel(req.link_state.twist.linear.x,req.link_state.twist.linear.y,req.link_state.twist.linear.z);
      gazebo::math::Vector3 target_angular_vel(req.link_state.twist.angular.x,req.link_state.twist.angular.y,req.link_state.twist.angular.z);

      if (frame)
      {
        gazebo::math::Pose  frame_pose = frame->GetWorldPose(); // - this->myBody->GetCoMPose();
        gazebo::math::Vector3 frame_pos = frame_pose.pos;
        gazebo::math::Quaternion frame_rot = frame_pose.rot;

        //std::cout << " debug : " << frame->GetName() << " : " << frame_pose << " : " << target_pose << std::endl;
        //target_pose = frame_pose + target_pose; // seems buggy, use my own
        target_pose.pos = frame_pos + frame_rot.RotateVector(target_pos);
        target_pose.rot = frame_rot * target_pose.rot;

        gazebo::math::Vector3 frame_linear_vel = frame->GetWorldLinearVel();
        gazebo::math::Vector3 frame_angular_vel = frame->GetWorldAngularVel();
        target_linear_vel -= frame_linear_vel;
        target_angular_vel -= frame_angular_vel;
      }
      else if (req.link_state.reference_frame == "" || req.link_state.reference_frame == "world" || req.link_state.reference_frame == "map" || req.link_state.reference_frame == "/map")
      {
        ROS_INFO("Updating LinkState: reference_frame is empty/world/map, using inertial frame");
      }
      else
      {
        ROS_ERROR("Updating LinkState: reference_frame is not a valid link name");
        res.success = false;
        res.status_message = "SetLinkState: failed";
        return false;
      }

      //std::cout << " debug : " << target_pose << std::endl;
      //boost::recursive_mutex::scoped_lock lock(*this->world->GetMRMutex());

      bool is_paused = this->world->IsPaused();
      if (!is_paused) this->world->SetPaused(true);
      body->SetWorldPose(target_pose);
      this->world->SetPaused(is_paused);

      // set body velocity to desired twist
      body->SetLinearVel(target_linear_vel);
      body->SetAngularVel(target_angular_vel);

      res.success = true;
      res.status_message = "SetLinkState: success";
      return true;
    }

    void GazeboRosApiPlugin::updateLinkState(const gazebo_msgs::LinkState::ConstPtr& link_state)
    {
      gazebo_msgs::SetLinkState::Request req;
      gazebo_msgs::SetLinkState::Response res;
      req.link_state = *link_state;
      /*bool success = */ this->setLinkState(req,res);
    }


    void GazeboRosApiPlugin::transformWrench( gazebo::math::Vector3 &target_force, gazebo::math::Vector3 &target_torque,
                               gazebo::math::Vector3 reference_force, gazebo::math::Vector3 reference_torque,
                               gazebo::math::Pose target_to_reference )
    {
      // rotate force into target frame
      target_force = target_to_reference.rot.RotateVector(reference_force);
      // rotate torque into target frame
      target_torque = target_to_reference.rot.RotateVector(reference_torque);

      // target force is the refence force rotated by the target->reference transform
      target_force = target_force;
      target_torque = target_torque + target_to_reference.pos.GetCrossProd(target_force);
    }

    bool GazeboRosApiPlugin::applyBodyWrench(gazebo_msgs::ApplyBodyWrench::Request &req,gazebo_msgs::ApplyBodyWrench::Response &res)
    {
      gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.body_name));
      gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(this->world->GetEntity(req.reference_frame));
      if (!body)
      {
        ROS_ERROR("ApplyBodyWrench: body [%s] does not exist",req.body_name.c_str());
        res.success = false;
        res.status_message = "ApplyBodyWrench: body does not exist";
        return false;
      }

      // target wrench
      gazebo::math::Vector3 reference_force(req.wrench.force.x,req.wrench.force.y,req.wrench.force.z);
      gazebo::math::Vector3 reference_torque(req.wrench.torque.x,req.wrench.torque.y,req.wrench.torque.z);
      gazebo::math::Vector3 reference_point(req.reference_point.x,req.reference_point.y,req.reference_point.z);

      gazebo::math::Vector3 target_force;
      gazebo::math::Vector3 target_torque;

      reference_torque = reference_torque + reference_point.GetCrossProd(reference_force);

      if (frame)
      {
        // get reference frame (body/model(body)) pose and
        // transform target pose to absolute world frame
        // @todo: need to modify wrench (target force and torque by frame)
        //        transform wrench from reference_point in reference_frame
        //        into the reference frame of the body
        //        first, translate by reference point to the body frame
        gazebo::math::Pose target_to_reference = frame->GetWorldPose() - body->GetWorldPose();
        ROS_DEBUG("reference frame for applied wrench: [%f %f %f, %f %f %f]-[%f %f %f, %f %f %f]=[%f %f %f, %f %f %f]",
                   body->GetWorldPose().pos.x,
                   body->GetWorldPose().pos.y,
                   body->GetWorldPose().pos.z,
                   body->GetWorldPose().rot.GetAsEuler().x,
                   body->GetWorldPose().rot.GetAsEuler().y,
                   body->GetWorldPose().rot.GetAsEuler().z,
                   frame->GetWorldPose().pos.x,
                   frame->GetWorldPose().pos.y,
                   frame->GetWorldPose().pos.z,
                   frame->GetWorldPose().rot.GetAsEuler().x,
                   frame->GetWorldPose().rot.GetAsEuler().y,
                   frame->GetWorldPose().rot.GetAsEuler().z,
                   target_to_reference.pos.x,
                   target_to_reference.pos.y,
                   target_to_reference.pos.z,
                   target_to_reference.rot.GetAsEuler().x,
                   target_to_reference.rot.GetAsEuler().y,
                   target_to_reference.rot.GetAsEuler().z
                 );
        this->transformWrench(target_force, target_torque, reference_force, reference_torque, target_to_reference);
        ROS_ERROR("wrench defined as [%s]:[%f %f %f, %f %f %f] --> applied as [%s]:[%f %f %f, %f %f %f]",
                   frame->GetName().c_str(),
                   reference_force.x,
                   reference_force.y,
                   reference_force.z,
                   reference_torque.x,
                   reference_torque.y,
                   reference_torque.z,
                   body->GetName().c_str(),
                   target_force.x,
                   target_force.y,
                   target_force.z,
                   target_torque.x,
                   target_torque.y,
                   target_torque.z
                 );

      }
      else if (req.reference_frame == "" || req.reference_frame == "world" || req.reference_frame == "map" || req.reference_frame == "/map")
      {
        ROS_INFO("ApplyBodyWrench: reference_frame is empty/world/map, using inertial frame, transferring from body relative to inertial frame");
        // FIXME: transfer to inertial frame
        gazebo::math::Pose target_to_reference = body->GetWorldPose();
        target_force = reference_force;
        target_torque = reference_torque;

      }
      else
      {
        ROS_ERROR("ApplyBodyWrench: reference_frame is not a valid link name");
        res.success = false;
        res.status_message = "ApplyBodyWrench: reference_frame not found";
        return false;
      }

      // apply wrench
      // schedule a job to do below at appropriate times:
      // body->SetForce(force)
      // body->SetTorque(torque)
      GazeboRosApiPlugin::WrenchBodyJob* wej = new GazeboRosApiPlugin::WrenchBodyJob;
      wej->body = body;
      wej->force = target_force;
      wej->torque = target_torque;
      wej->start_time = req.start_time;
      if (wej->start_time < ros::Time(this->world->GetSimTime().Double()))
        wej->start_time = ros::Time(this->world->GetSimTime().Double());
      wej->duration = req.duration;
      this->lock_.lock();
      this->wrench_body_jobs.push_back(wej);
      this->lock_.unlock();

      res.success = true;
      res.status_message = "";
      return true;
    }


    void GazeboRosApiPlugin::spin()
    {
      // todo: make a wait loop that does not provide extra ros::spin()
      ros::Rate r(10);
      while(ros::ok())
      {
        ros::spinOnce();
        r.sleep();
      }
    }

    void GazeboRosApiPlugin::SetupTransform(btTransform &transform, urdf::Pose pose)
    {
        btMatrix3x3 mat;
        mat.setRotation(btQuaternion(pose.rotation.x,pose.rotation.y,pose.rotation.z,pose.rotation.w));
        transform = btTransform(mat,btVector3(pose.position.x,pose.position.y,pose.position.z));
    }
    void GazeboRosApiPlugin::SetupTransform(btTransform &transform, geometry_msgs::Pose pose)
    {
        btMatrix3x3 mat;
        mat.setRotation(btQuaternion(pose.orientation.x,pose.orientation.y,pose.orientation.z,pose.orientation.w));
        transform = btTransform(mat,btVector3(pose.position.x,pose.position.y,pose.position.z));
    }

    bool GazeboRosApiPlugin::IsURDF(std::string model_xml)
    {
      TiXmlDocument doc_in;
      doc_in.Parse(model_xml.c_str());
      if (doc_in.FirstChild("robot"))
        return true;
      else
        return false;
    }
    bool GazeboRosApiPlugin::IsGazeboModelXML(std::string model_xml)
    {
      // FIXME: very crude check
      TiXmlDocument doc_in;
      doc_in.Parse(model_xml.c_str());
      if (doc_in.FirstChild("model:physical")) // old gazebo xml
        return true;
      else
        return false;
    }
    bool GazeboRosApiPlugin::IsSDF(std::string model_xml)
    {
      // FIXME: very crude check
      TiXmlDocument doc_in;
      doc_in.Parse(model_xml.c_str());
      if (doc_in.FirstChild("gazebo")) // sdf
        return true;
      else
        return false;
    }

    void GazeboRosApiPlugin::wrenchBodySchedulerSlot()
    {
      // MDMutex locks in case model is getting deleted, don't have to do this if we delete jobs first
      // boost::recursive_mutex::scoped_lock lock(*this->world->GetMDMutex());
      this->lock_.lock();
      for (std::vector<GazeboRosApiPlugin::WrenchBodyJob*>::iterator iter=this->wrench_body_jobs.begin();iter!=this->wrench_body_jobs.end();)
      {
        // check times and apply wrench if necessary
        if (ros::Time(this->world->GetSimTime().Double()) >= (*iter)->start_time)
          if (ros::Time(this->world->GetSimTime().Double()) <= (*iter)->start_time+(*iter)->duration ||
              (*iter)->duration.toSec() < 0.0)
          {
            if ((*iter)->body) // if body exists
            {
              (*iter)->body->SetForce((*iter)->force);
              (*iter)->body->SetTorque((*iter)->torque);
            }
            else
              (*iter)->duration.fromSec(0.0); // mark for delete
          }

        if (ros::Time(this->world->GetSimTime().Double()) > (*iter)->start_time+(*iter)->duration &&
            (*iter)->duration.toSec() >= 0.0)
        {
          // remove from queue once expires
          delete (*iter);
          this->wrench_body_jobs.erase(iter);
        }
        else
          iter++;
      }
      this->lock_.unlock();
    }

    void GazeboRosApiPlugin::forceJointSchedulerSlot()
    {
      // MDMutex locks in case model is getting deleted, don't have to do this if we delete jobs first
      // boost::recursive_mutex::scoped_lock lock(*this->world->GetMDMutex());
      this->lock_.lock();
      for (std::vector<GazeboRosApiPlugin::ForceJointJob*>::iterator iter=this->force_joint_jobs.begin();iter!=this->force_joint_jobs.end();)
      {
        // check times and apply force if necessary
        if (ros::Time(this->world->GetSimTime().Double()) >= (*iter)->start_time)
          if (ros::Time(this->world->GetSimTime().Double()) <= (*iter)->start_time+(*iter)->duration ||
              (*iter)->duration.toSec() < 0.0)
            {
              if ((*iter)->joint) // if joint exists
                (*iter)->joint->SetForce(0,(*iter)->force);
              else
                (*iter)->duration.fromSec(0.0); // mark for delete
            }

        if (ros::Time(this->world->GetSimTime().Double()) > (*iter)->start_time+(*iter)->duration &&
            (*iter)->duration.toSec() >= 0.0)
        {
          // remove from queue once expires
          this->force_joint_jobs.erase(iter);
        }
        else
          iter++;
      }
      this->lock_.unlock();
    }

    void GazeboRosApiPlugin::publishSimTime(const boost::shared_ptr<gazebo::msgs::WorldStatistics const> &msg)
    {
      ROS_ERROR("CLOCK2");
      gazebo::common::Time currentTime = gazebo::msgs::Convert( msg->sim_time() );
      rosgraph_msgs::Clock ros_time_;
      ros_time_.clock.fromSec(currentTime.Double());
      //  publish time to ros
      this->pub_clock_.publish(ros_time_);
    }
    void GazeboRosApiPlugin::publishSimTime()
    {
      gazebo::common::Time currentTime = this->world->GetSimTime();
      rosgraph_msgs::Clock ros_time_;
      ros_time_.clock.fromSec(currentTime.Double());
      //  publish time to ros
      this->pub_clock_.publish(ros_time_);
    }


    void GazeboRosApiPlugin::publishLinkStates()
    {
      gazebo_msgs::LinkStates link_states;

      // fill link_states
      for (unsigned int i = 0; i < this->world->GetModelCount(); i ++)
      {
        gazebo::physics::ModelPtr model = this->world->GetModel(i);

        for (unsigned int j = 0 ; j < model->GetChildCount(); j ++)
        {
          gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(model->GetChild(j));

          if (body)
          {
            link_states.name.push_back(body->GetScopedName());
            geometry_msgs::Pose pose;
            gazebo::math::Pose  body_pose = body->GetWorldPose(); // - this->myBody->GetCoMPose();
            gazebo::math::Vector3 pos = body_pose.pos;
            gazebo::math::Quaternion rot = body_pose.rot;
            pose.position.x = pos.x;
            pose.position.y = pos.y;
            pose.position.z = pos.z;
            pose.orientation.w = rot.w;
            pose.orientation.x = rot.x;
            pose.orientation.y = rot.y;
            pose.orientation.z = rot.z;
            link_states.pose.push_back(pose);
            gazebo::math::Vector3 linear_vel  = body->GetWorldLinearVel();
            gazebo::math::Vector3 angular_vel = body->GetWorldAngularVel();
            geometry_msgs::Twist twist;
            twist.linear.x = linear_vel.x;
            twist.linear.y = linear_vel.y;
            twist.linear.z = linear_vel.z;
            twist.angular.x = angular_vel.x;
            twist.angular.y = angular_vel.y;
            twist.angular.z = angular_vel.z;
            link_states.twist.push_back(twist);
          }
        }
      }

      this->pub_link_states_.publish(link_states);
    }

    void GazeboRosApiPlugin::publishModelStates()
    {
      gazebo_msgs::ModelStates model_states;

      // fill model_states
      for (unsigned int i = 0; i < this->world->GetModelCount(); i ++)
      {
        gazebo::physics::ModelPtr model = this->world->GetModel(i);
        model_states.name.push_back(model->GetName());
        geometry_msgs::Pose pose;
        gazebo::math::Pose  model_pose = model->GetWorldPose(); // - this->myBody->GetCoMPose();
        gazebo::math::Vector3 pos = model_pose.pos;
        gazebo::math::Quaternion rot = model_pose.rot;
        pose.position.x = pos.x;
        pose.position.y = pos.y;
        pose.position.z = pos.z;
        pose.orientation.w = rot.w;
        pose.orientation.x = rot.x;
        pose.orientation.y = rot.y;
        pose.orientation.z = rot.z;
        model_states.pose.push_back(pose);
        gazebo::math::Vector3 linear_vel  = model->GetWorldLinearVel();
        gazebo::math::Vector3 angular_vel = model->GetWorldAngularVel();
        geometry_msgs::Twist twist;
        twist.linear.x = linear_vel.x;
        twist.linear.y = linear_vel.y;
        twist.linear.z = linear_vel.z;
        twist.angular.x = angular_vel.x;
        twist.angular.y = angular_vel.y;
        twist.angular.z = angular_vel.z;
        model_states.twist.push_back(twist);
      }
      this->pub_model_states_.publish(model_states);
    }

    void GazeboRosApiPlugin::PhysicsReconfigureCallback(gazebo::PhysicsConfig &config, uint32_t level)
    {
      if (!physics_reconfigure_initialized_)
      {
        gazebo_msgs::GetPhysicsProperties srv;
        this->physics_reconfigure_get_client_.call(srv);

        config.time_step                   = srv.response.time_step;
        config.max_update_rate             = srv.response.max_update_rate;
        config.gravity_x                   = srv.response.gravity.x;
        config.gravity_y                   = srv.response.gravity.y;
        config.gravity_z                   = srv.response.gravity.z;
        config.auto_disable_bodies         = srv.response.ode_config.auto_disable_bodies;
        config.sor_pgs_precon_iters        = srv.response.ode_config.sor_pgs_precon_iters;
        config.sor_pgs_iters               = srv.response.ode_config.sor_pgs_iters;
        config.sor_pgs_rms_error_tol       = srv.response.ode_config.sor_pgs_rms_error_tol;
        config.sor_pgs_w                   = srv.response.ode_config.sor_pgs_w;
        config.contact_surface_layer       = srv.response.ode_config.contact_surface_layer;
        config.contact_max_correcting_vel  = srv.response.ode_config.contact_max_correcting_vel;
        config.cfm                         = srv.response.ode_config.cfm;
        config.erp                         = srv.response.ode_config.erp;
        config.max_contacts                = srv.response.ode_config.max_contacts;
        physics_reconfigure_initialized_ = true;
      }
      else
      {
        bool changed = false;
        gazebo_msgs::GetPhysicsProperties srv;
        this->physics_reconfigure_get_client_.call(srv);

        // check for changes
        if (config.time_step                      != srv.response.time_step)                                 changed = true;
        if (config.max_update_rate                != srv.response.max_update_rate)                           changed = true;
        if (config.gravity_x                      != srv.response.gravity.x)                                 changed = true;
        if (config.gravity_y                      != srv.response.gravity.y)                                 changed = true;
        if (config.gravity_z                      != srv.response.gravity.z)                                 changed = true;
        if (config.auto_disable_bodies            != srv.response.ode_config.auto_disable_bodies)            changed = true;
        if ((uint32_t)config.sor_pgs_precon_iters != srv.response.ode_config.sor_pgs_precon_iters)           changed = true;
        if ((uint32_t)config.sor_pgs_iters        != srv.response.ode_config.sor_pgs_iters)                  changed = true;
        if (config.sor_pgs_rms_error_tol          != srv.response.ode_config.sor_pgs_rms_error_tol)          changed = true;
        if (config.sor_pgs_w                      != srv.response.ode_config.sor_pgs_w)                      changed = true;
        if (config.contact_surface_layer          != srv.response.ode_config.contact_surface_layer)          changed = true;
        if (config.contact_max_correcting_vel     != srv.response.ode_config.contact_max_correcting_vel)     changed = true;
        if (config.cfm                            != srv.response.ode_config.cfm)                            changed = true;
        if (config.erp                            != srv.response.ode_config.erp)                            changed = true;
        if ((uint32_t)config.max_contacts         != srv.response.ode_config.max_contacts)                   changed = true;

        if (changed)
        {
          // pause simulation if requested
          gazebo_msgs::SetPhysicsProperties srv;
          srv.request.time_step                             = config.time_step                   ;
          srv.request.max_update_rate                       = config.max_update_rate             ;
          srv.request.gravity.x                             = config.gravity_x                   ;
          srv.request.gravity.y                             = config.gravity_y                   ;
          srv.request.gravity.z                             = config.gravity_z                   ;
          srv.request.ode_config.auto_disable_bodies        = config.auto_disable_bodies         ;
          srv.request.ode_config.sor_pgs_precon_iters       = config.sor_pgs_precon_iters        ;
          srv.request.ode_config.sor_pgs_iters              = config.sor_pgs_iters               ;
          srv.request.ode_config.sor_pgs_rms_error_tol      = config.sor_pgs_rms_error_tol       ;
          srv.request.ode_config.sor_pgs_w                  = config.sor_pgs_w                   ;
          srv.request.ode_config.contact_surface_layer      = config.contact_surface_layer       ;
          srv.request.ode_config.contact_max_correcting_vel = config.contact_max_correcting_vel  ;
          srv.request.ode_config.cfm                        = config.cfm                         ;
          srv.request.ode_config.erp                        = config.erp                         ;
          srv.request.ode_config.max_contacts               = config.max_contacts                ;
          this->physics_reconfigure_set_client_.call(srv);
          ROS_INFO("physics dynamics reconfigure update complete");
        }
        ROS_INFO("physics dynamics reconfigure complete");
      }
    }

    void GazeboRosApiPlugin::PhysicsReconfigureNode()
    {
      ros::NodeHandle node_handle;
      this->physics_reconfigure_set_client_ = node_handle.serviceClient<gazebo_msgs::SetPhysicsProperties>("/gazebo/set_physics_properties");
      this->physics_reconfigure_get_client_ = node_handle.serviceClient<gazebo_msgs::GetPhysicsProperties>("/gazebo/get_physics_properties");
      this->physics_reconfigure_set_client_.waitForExistence();
      this->physics_reconfigure_get_client_.waitForExistence();

      // for dynamic reconfigure physics
      // for dynamic_reconfigure
      dynamic_reconfigure::Server<gazebo::PhysicsConfig> physics_reconfigure_srv;
      dynamic_reconfigure::Server<gazebo::PhysicsConfig>::CallbackType physics_reconfigure_f;

      physics_reconfigure_f = boost::bind(&GazeboRosApiPlugin::PhysicsReconfigureCallback, this, _1, _2);
      physics_reconfigure_srv.setCallback(physics_reconfigure_f);

      ROS_INFO("Starting to spin physics dynamic reconfigure node...");
      ros::Rate r(10);
      while(ros::ok())
      {
        ros::spinOnce();
        r.sleep();
      }
    }

// Register this plugin with the simulator
GZ_REGISTER_SYSTEM_PLUGIN(GazeboRosApiPlugin)
}