set light properties through ros topic or service interface?
Is it possible to set light properties through the ros topic or service interface on /gazebo? For example any of the properties set in the sdf file and available through menus in the gui I'd like to be able to adjust:
<light type="spot" name="base_light">
<!-- Frames don't work in 5.0.1 XML Element[frame], child of element[light] not defined in SDF. Ignoring[frame]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. -->
<!--frame name="base_link"-->
<pose>0 0 0.1 1.57 0 0</pose>
<diffuse>.9 .9 .9 1</diffuse>
<specular>.1 .1 .1 1</specular>
<attenuation>
<range>20</range>
</attenuation>
<spot>
<inner_angle>0.4</inner_angle>
<outer_angle>1.0</outer_angle>
<falloff>1.0</falloff>
</spot>
<direction>0 0 -1</direction>
<cast_shadows>true</cast_shadows>
</light>
If not that, what about gz command line or gazebojs?
I'm using Ubuntu 14.04 with ROS Jade and Gazebo 5.0.1.