Modify self_collide property during execution

Help
,
1

Hello Gazebo_community,

I am trying to modify the property self_collide of my robot model while runtime.

Is it possible?

i tried to create a plugin to do it but it does nothing.

void SelfCollideParameterPlugin::Update(const UpdateInfo &info, EntityComponentManager &ecm)
{
auto selfCollideComp = ecm.Componentcomponents::SelfCollide(this->modelEntity);

    if (selfCollideComp)
    {
        selfCollideComp->Data() = this->selfCollide;
    }
}

thank you in advance,

NarSB