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what is in your GAZEBO_PLUGIN_PATH variable (type echo $GAZEBO_PLUGIN_PATH in a terminal)

if it not contains /home/mark/catkin_ws/devel you should append it (type GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/mark/catkin_ws/devel)

I haven't found this in the tutorial but I think it must be there somewhere ;)

you can find it in the manual Manual plugins

hope this solves your problem