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How to get and set velocity of a joint in Gazebo ?

Hi everyone !

1) I have made a small robot model with 4 wheels. I simulate it in Gazebo and and provide some force to the wheel joints so that the robot starts moving. Now, I want to know the speed of the model or any particular joint by writing an API code. Can anyone please tell me how to do that ?? Also , I don't want to use ROS and Plugin methods. I just want to write a C or C++ code for that.

2) After receiving the speed, I now want to set the speed of that joint according to me by the same method as mentioned above i.e. by writing C or C++ API code, without using ROS and Plugin methods.

I would be really grateful to you if you help me out with this .