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had some issues with executing the plugin, I first cloned the electromagnet branch of larics, after I got the plugin running I decided to go back to your master cause that feature seems to be not finished yet completely. Maybe I do some more changes later, but maybe you want those here - Back to the issue: The plugin was completely not executed by Gazebo on my system - no error no warning, just nothing. After I copied stuff from my plugin I once wrote, it started working. I do not know what exactly did the trick but you mainly missed the catkin_package command in the CMakeLists.txt - with that in place you would also have noticed that you missed the geometry_msgs dependency in the package.xml which I also added. I mainly copied that stuff from gazebo_plugins when I did my plugin.