Using a Plugin

创建hello.world

<?xml version="1.0"?>
<sdf version="1.4">
  <world name="default">
    <plugin name="hello_world" filename="libhello_world.so"/>
  </world>
</sdf>

You should see output similar to:

Gazebo multi-robot simulator, version 1.9.5
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
Hello World!

Using a Plugin

原文：http://blog.csdn.net/dxuehui/article/details/46594363