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Not really an answer, but why is this a ros node? You could make this a gazebo world plugin that just does ros publishing. That way you get a world pointer for free in your Load() method

http://gazebosim.org/tutorials?tut=plugins_world

Not really an answer, but why is this a ros node? stand alone executable? You could make this a gazebo world plugin that just does ros publishing. That way you get a world pointer for free in your Load() method

http://gazebosim.org/tutorials?tut=plugins_world