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I'm on gazebo11 and I found in /usr/lib/x86_64-linux-gnu/gazebo-11/plugins. The plugin also exists in the main repo for gazebo-9 (, so I think it should be similar in gazebo-9.

Did you source the setup file (/usr/share/gazebo-9/ before running? If the output of echo $GAZEBO_PLUGIN_PATH doesn't contain the path to the so file, the plugin cannot be found.