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Sure, just initialize the ROS node inside the load function

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, node_name,
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( node_name ));

and create a publisher

this->rosPub = this->rosNode->advertise<std_msgs::Float64>(topic_name,1);

Then you can access the class variable this->rosPub from within the plugin and send the messages.

Sure, just initialize the ROS node inside the load function

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, node_name,
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( node_name ));

and create a publisher

this->rosPub = this->rosNode->advertise<std_msgs::Float64>(topic_name,1);

Then you can access the class variable this->rosPub from within the plugin and send the messages.

#include "ros/ros.h"

private: std::unique_ptr<ros::NodeHandle> rosNode;
private: ros::Publisher rosPub;

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, "my_ros_node",
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( "my_ros_node" ));

this->rosPub = this->rosNode->advertise<std_msgs::Float64>("my_ros_topic",1);

Sure, just initialize the ROS node inside the load function

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, node_name,
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( node_name ));

and create a publisher

this->rosPub = this->rosNode->advertise<std_msgs::Float64>(topic_name,1);

Then you can access the class variable this->rosPub from within the plugin and send the messages.

EDIT

Include ROS in at the top of the header file:

#include "ros/ros.h"

Declare the class variables inside the header file

namespace gazebo {
    ...
    class GazeboMotorModel : public MotorModel, public ModelPlugin {
         ...
         private: std::unique_ptr<ros::NodeHandle> rosNode;
 private: ros::Publisher rosPub;

initialize the ROS node inside the Load function of the plugin

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, "my_ros_node",
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( "my_ros_node" ));

initialize the ros publisher right under the ROS node initialization

this->rosPub = this->rosNode->advertise<std_msgs::Float64>("my_ros_topic",1);

note that the message type (here std_msgs::Float64) must be edited to match your topics message type.

Sure, just initialize the ROS node inside the load function

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, node_name,
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( node_name ));

and create a publisher

this->rosPub = this->rosNode->advertise<std_msgs::Float64>(topic_name,1);

Then you can access the class variable this->rosPub from within the plugin and send the messages.

EDIT

Include ROS at the top of the header file:

#include "ros/ros.h"

Declare the class variables inside the header file

namespace gazebo {
    ...
    class GazeboMotorModel : public MotorModel, public ModelPlugin {
         ...
         private: std::unique_ptr<ros::NodeHandle> rosNode;
         private: ros::Publisher rosPub;

initialize the ROS node inside the Load function of the plugin

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, "my_ros_node",
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( "my_ros_node" ));

initialize the ros publisher right under the ROS node initialization

this->rosPub = this->rosNode->advertise<std_msgs::Float64>("my_ros_topic",1);

note that the message type (here std_msgs::Float64) must be edited to match your topics message type.

  std_msgs::Float64 msg;
  msg.data = 15.3;
  this->rosPub.publish(msg);

Sure, just initialize the ROS node inside the load function

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, node_name,
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( node_name ));

and create a publisher

this->rosPub = this->rosNode->advertise<std_msgs::Float64>(topic_name,1);

Then you can access the class variable this->rosPub from within the plugin and send the messages.

EDIT

Include ROS at the top of the header file:file gazebo_motor_model.h:

#include "ros/ros.h"

Declare the class variables inside the header file

namespace gazebo {
    ...
    class GazeboMotorModel : public MotorModel, public ModelPlugin {
         ...
         private: std::unique_ptr<ros::NodeHandle> rosNode;
         private: ros::Publisher rosPub;

initialize the ROS node inside the Load function of the pluginplugin inside the gazebo_motor_model.cpp file

if (!ros::isInitialized())
    {
        int argc = 0;
        char **argv = NULL;

        ros::init(argc, argv, "my_ros_node",
            ros::init_options::NoSigintHandler);
    }

    // Create ROS node.
    this->rosNode.reset(new ros::NodeHandle( "my_ros_node" ));

initialize the ros publisher right under the ROS node initialization

this->rosPub = this->rosNode->advertise<std_msgs::Float64>("my_ros_topic",1);

note that the message type (here std_msgs::Float64) must be edited to match your topics message type.

Now you can send the message anywhere in your update function

  std_msgs::Float64 msg;
  msg.data = 15.3;
  this->rosPub.publish(msg);