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Best way to Interface Gazebo Server with custom Application

Hi,

I'm trying to create my own GUI/Editor using gazebo just as a server. Currently, I'm using a .so that starts a server and calls gazebo API functions so i can create models, control joints and get the pose of every object in the world for rendering.

But I saw that a lot of examples that interface with gazebo using messages rather than using API functions.

In my context, is it better to use messages? Or is it faster if i keep using Gazebo API Functions? I would like to know pros and cons.