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Model Joint velocity

Hello,

I'm a beginner with Gazebo and Ros, and i have a questions regarding model joint velocity(which you can set by selecting model and then modifying velocity table attributes on the right panel). 1- Is there a way to get the model joints velocity using Ros(topic/service) 2- Is there a way to set the model joints velocity using Ros(topic/service) I was able to use Rostopic to set module position.