Plugin Types

There are currently 5 types of plugins

1. World
2. Model
3. Sensor
4. System.
5. Visual.

Hello WorldPlugin!

#include <gazebo/gazebo.hh>

namespace gazebo
{
  class WorldPluginTutorial : public WorldPlugin
  {
    public: WorldPluginTutorial() : WorldPlugin()
            {
              printf("Hello World!\n");
            }

    public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
            {
            }
  };
  GZ_REGISTER_WORLD_PLUGIN(WorldPluginTutorial)
}

GZ_REGISTER_WORLD_PLUGIN,GZ_REGISTER_MODEL_PLUGIN, GZ_REGISTER_SENSOR_PLUGIN, GZ_REGISTER_SYSTEM_PLU

Overview of Gazebo Plugins

原文：http://blog.csdn.net/dxuehui/article/details/46594293