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This might be a little late, but if you look at the source code of the plugin (https://github.com/osrf/gazebo/blob/gazebo11/plugins/ActorPlugin.cc) you'll notice the animation and trajectory parts. It looks like this Plugin is specialized for the usage with the Walking Actor person (http://gazebosim.org/tutorials?tut=actor&cat=build_robot).

You can use this source code and adapt it to your own plugin. Since you're using just a visual element without any animation, you can take those parts out and just set the pose of your actor with this->actor->SetWorldPose(pose) at the end.

This might be a little late, but if you look at the source code of the plugin (https://github.com/osrf/gazebo/blob/gazebo11/plugins/ActorPlugin.cc) you'll notice the animation and trajectory parts. It looks like this Plugin is specialized for the usage with the Walking Actor person (http://gazebosim.org/tutorials?tut=actor&cat=build_robot).

You can use this source code and adapt it to your own plugin. Since you're using just a visual element without any animation, you can take those parts out and just set the pose of your actor with this->actor->SetWorldPose(pose) at the end.