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Hi,

I haven't used SystemPlugins on server side yet but you can use those to get access to gazebo internals. This is a huge different between server and client side.

For example on client side you can directly access Ogre(gazebos rendering engine) to change visual things in gazebo.

so regarding your questions:

  1. yes this is correct

  2. in general no but maybe you can find a usecase...

  3. yeah this is wrong I start my SystemPlugin(s) only on client side! Should be something like: with ...gzserver or gzclient on startup

I hope this helps