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When to used:

http://gazebosim.org/wiki/Tutorials/1.3/control_robot/mobile_base

Or

http://gazebosim.org/wiki/Tutorials/1.3/control_robot/mobile_base_laser

Get a similar error:

Error [Plugin.hh:127] Failed to load plugin libmy_plugin_with_sensor.so: my_plugin_with_sensor.so: cannot open shared object file: No such file or directory