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I meet the same problem, when i follow the doc on Gazebo website to use the elevator plugin, i can not find any topic like /gazebo/elevator in topic list. So i checked the other plugin file names which works in ros,i find other plugin all use these .so file names like libgazebo_ros_camera.so , so i changed the elevator plugin file name to libgazebo_ros_elevator.so and it worked. Also change the topic name from ~/elevator to any other names by yourself. ps: Ubuntu18 + ROS Melodic