Hello, I'm struggling with combining different gazebo plugins regarding ros controllers. I'm working with the following package ( https://github.com/epfl-lasa/kuka-lwr-ros ) which implements this gazebo controller plugin: https://github.com/epfl-lasa/kuka-lwr-ros/blob/master/kuka_lwr/lwr_hw/src/lwr_hw_gazebo_plugin.cpp

I want to extend the model now with some simple tools where I need just some "normal" controllers e.g. the EffortJointController form the standard ros gazebo plugin. Is there any possibility to combine them?

I've already tried to add both plugins, namely

<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

and

<plugin name="${name}_lwr_hw_sim" filename="liblwr_hw_gazebo_plugin.so">

but that hasn't worked.