[ROS2] Body Wrench and Joint Effort

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Hi,

I am currently trying to control a robot in gazebo, using ROS2. I can successfully spawn it when launching gazebo with the libgazebo_ros_factory.so plugin.

However I am now trying to control its joints, so I tried to followed this guide : https://github.com/ros-simulation/gaz...

However at the first command

gazebo --verbose -s libgazebo_ros_effort.so

I get an error :

[Err] [Plugin.hh:187] Failed to load plugin libgazebo_ros_effort.so: libgazebo_ros_effort.so: cannot open shared object file: No such file or directory

And I indeed cannot find any file corresponding to this plugin when looking in the sources.

Am I missing something ? Is it possible to include the apply_joint_effort service otherwise ?

Thank you !