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I believe you should be seeing these messages, but in any case, another option would be to use Gazebo's logging tool. Add extra_gazebo_args=:"--verbose" to your roslaunch command so that Gazebo is running in verbose mode. Then from your plugin, you can use gzdbg << "message" << std::endl; and that should be printed in blue when you run the program. If you don't see it, that line is probably not being executed.