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Actors in ROS Melodic, Gazebo 9

Hi, I am using ROS Melodic and Gazebo9 for simulating a world that has a bunch of VLP-16 Lidar sensors. I am using gazebo_ros to read the Gazebo world in ROS and visualize it in RVIZ I am able to visualize a model (with<model> tag) in RViz, but I cannot get an actor to be visualized. I want to use actors to build animated models that I can run in Gazebo and visualize the data in RVIZ. I was wondering if ROS supports actors/animated models ?

Thanks in advance