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You can load the plugin by adding the option -s libgazebo_yarp_clock.so to the gazebo command:

gazebo -s libgazebo_yarp_clock.so myworld.world

Then you can send rpc command on the port /clock (check if the /clock port is open with the command 'yarp name list')

example commands:

getTime
stepSimulation 1000
pauseSimulation
....