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Generated a custom plugin for Gazebo simulation. Doesn't work on Noetic

I followed the videos by The Construct ( to create a custom model plugin for manipulating a lidar in 6DOF (repository: I wanted it to behave like a drone, but without the dynamics or gravity. This model doesn't work in Noetic. I think the issue is with the plugin itself, but I cannot tell what the issue is. When the simulation is launched, the plugin I created is never called.