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Set model velocity via msgs in Gazebo 6

I need to move a model smoothly from keyboard. For this I need to set (maybe, learn) velocity of a model via messages. In Messages API I found only static pose arguments. In a few places on the internet I saw some comments about "geometrymsgs/Twist" topic, but they look outdated as in Gazebo 6 there isn't anything similar.

So how Can I do this without any plugins, using just messages?

Thanks for the feedback!