SetPhysicsProperties

This is a ROS service definition.

Source

# sets pose and twist of a link.  All children link poses/twists of the URDF tree will be updated accordingly
float64 time_step                  # dt in seconds
float64 max_update_rate            # throttle maximum physics update rate
geometry_msgs/Vector3 gravity      # gravity vector (e.g. earth ~[0,0,-9.81])
gazebo_msgs/ODEPhysics ode_config  # configurations for ODE
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bool success                       # return true if set wrench successful
string status_message              # comments if available