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For your second question, I don't believe you want to call "init" ever within your own plugin, but you should leave that for the master gazebo_ros_api_plugin.cpp to do, then in your plugin just make sure that has already been called by doing something like:

  // Exit if no ROS
  if (!ros::isInitialized())
    gzerr << "Not loading plugin since ROS hasn't been "
          << "properly initialized.  Try starting gazebo with ros plugin:\n"
          << "  gazebo -s\n";