What is the proper method for formatting LinkStates messages in Gazebo ROS?

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The proper method for formatting LinkStates messages in Gazebo ROS is to use the standard ROS message format, which includes the message type and fields. The LinkStates message type contains two fields: pose and twist. The pose field contains the position and orientation of the link, while the twist field contains information about the linear and angular velocities of the link. The message should be formatted as follows:

Header header
string[] name
geometry_msgs/Pose[] pose
geometry_msgs/Twist[] twist

Where:

• header: contains metadata about the message, such as a timestamp or frame ID.
• name: an array of string values representing the names of the links.
• pose: an array of geometry_msgs/Pose messages, each containing the position and orientation of a link.
• twist: an array of geometry_msgs/Twist messages, each containing the linear and angular velocities of a link.

The specific values for each field should be set to match the current state of the links in the Gazebo world.