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you should be able to use:

math::Pose currentPose
currentPose=world->GetModel(i)->GetLink("link_name_from_urdf")->GetWorldPose();

since i can change even when loading the same urdf file, you can find i by something like:

world->GetModel(i)->GetName().find("model_name_in_gazebo")!=std::string::npos

check out the manipulating models world plugin example and the math page for some more info.

you should be able to use:

math::Pose currentPose
currentPose;
currentPose=world->GetModel(i)->GetLink("link_name_from_urdf")->GetWorldPose();

since i can change even when loading the same urdf file, you can find i by something like:

world->GetModel(i)->GetName().find("model_name_in_gazebo")!=std::string::npos
if (world->GetModel(i)->GetName().find("model_name_in_gazebo")!=std::string::npos) { }

check out the manipulating models world plugin example and the math page for some more info.