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Synchronous communication with gazebo

Hi,

I am trying to implement a robot controller using ros + gazebo - So, what I want it to tell gazebo a particular command and then gazebo should return the state after 1 second. And after that it should pause itself.Now, I do some processing and again give a command - and it should again run for only 1 second.

I need my actions to be used for equal amounts of time.