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Is it possible to show some visual marks on Gazebo?

Hello, I'm using ROS melodic in Ubuntu 16.04.

I'm working on the navigation of a mobile robot with simulation tools of Gazebo.

If it is possible, I'd like to show some message kind of the ROS topic on the Gazebo environment field, not Rviz.

As far as I know, unfortunately, all visual models of Gazebo simulation exist with urdf setting, and the topic message I said doesn't have it.

Can I simply show them on the Gazebo?

Thanks in advance. :)