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Visusal and Model Plugin

Hi there,

I'm quite new to the Gazebo community and I'm trying to implement my first plugins. I would like to know if it's possible to create a plugin that can show some visuals marker in the simulated environment and that can apply forces to other models in the simulation?

What I would like to do is a kind of Visual and Model plugin as it should be able to show some markers and to interact with other objects ... For now, I'm able to create a Model plugin that can interact with the physics of an object and a visual plugin that can show some markers.

Is there any possibility to do this Visual and Model plugin as one plugin or should I create two plugins (One Visual and one Model) with a more high-level plugin to manage these two ones using transport's messages?

Best Regards

Teusner