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Moving two-state, prismatic joint in Gazebo

Hi, My robot is a basic diff-drive vehicles, that has a lift on top (to transport a pallet). The lift is connected to a base by a prismatic joint (it moves along z axis ). Here is my question. How to make it move from "down position" to "up position" and inversely. I would like to write a plugin that is seen from ros (subscribe to a ROS topic) and accept two commands : up and down. The main problem is how to move the lift.