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Here's a pull request fixing Gazebo's built-in plugins:

https://bitbucket.org/osrf/gazebo/pull-requests/3041/fix-gui-plugins-on-bionic-gz9/diff

For custom plugins, the quickest solution is to add ${Qt5Test_LIBRARIES} to the link libraries, or to remove #include <gazebo/gui/gui.hh> and include specific headers instead.

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