syntax of services

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I am trying to use rosservice for gazebo but i can't find the right syntax to use. where can i find the syntax i should use.

i was trying to use set_joint_properties on my little urdf i wrote and it wasn't working do to wrong syntax. what i am realy trying do to is to symulate in gazebo a inverted pendelum and leave it up by using control methods. i am not sure how to start, it looks as if there is a control loop that is leeving it standing in place, otherwise it should have fallen over. can some one give me an idea haw should i start.

the urdf model-- <robot name="pendelum"> <link name="rod"> <inertial> <origin xyz="0 0 0" rpy="0 0 0"/> <mass value="1"/> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> </inertial>

<visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder radius="0.2" length="2/&gt; &lt;/geometry&gt; &lt;material name=" cyan"=""> <color rgba="0 255 255 1.0"/> </material> </visual>

<collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder radius="1" length="0.5"/> </geometry> </collision> </link>

<link name="mass"> <inertial> <mass value="1.0"/> <origin xyz="0 0 0"/> <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <sphere radius="0.1"/> </geometry> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <sphere radius="0.1"/> </geometry> </collision> </link> <joint name="weld" type="fixed"> <parent link="rod"/> <child link="mass"/>

</joint> <joint name="floor" type="revolute"> <child link="rod"/> <origin xyz="0.2 0 0" rpy="0 0 0"/> <axis xyz="0 1 0"/> <limit upper="3.15" lower="-3.15" effort="1000.00" velocity="1000.00"/> </joint> </robot>

Thanks Nachum