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initial version

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/hydro-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/hydro-devel/gazebo_ros/src/gazebo_ros_api_plugin.cppit is in the gazebo_ros package on github