Raw Message Definition
# @todo: FIXME: sets pose and twist of a link. All children link poses/twists of the URDF tree are not updated accordingly, but should be.
string link_name # link name, link_names are in gazebo scoped name notation, [model_name::body_name]
geometry_msgs/Pose pose # desired pose in reference frame
geometry_msgs/Twist twist # desired twist in reference frame
string reference_frame # set pose/twist relative to the frame of this link/body
# leave empty or "world" or "map" defaults to world-frame
Compact Message Definition