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How to control the start of actor animation with a plugin

Hello, everyone

I'm a first time student of the Gazebo and I'm working my way through the tutorials. However, I can't get this tutorial to work (

My environment is Ubuntu 18.04 and I'm using gazebo version 9.

I found out that is included in Ubunt 20.04. Is there any way to trigger the model in the same way on Ubuntu 18.04?