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You could write a plugin which attaches a MovableText to each model visual. A GUI or System plugin would probably be best, since you need access to rendering.

Here's an example of MovableText being used inside Gazebo.

You could write a plugin which attaches a MovableText to each model visual. A GUI or System plugin would probably be best, since you need access to rendering.

UPDATE

I got curious about this and decided to write a plugin myself. Here's an example of MovableText being used inside Gazebo.the source code, and here's a video.

It should work if you clone the repository or copy the files and follow the build instructions in the README file. To use it with your world, just add the proper <gui> tag to your SDF file. You can customize the plugin for your needs, all it does now is attaching a name to every model in simulation.