How to move a model in Gazebo11 from ROS2

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I'm trying to move an object in Gazebo11 from a node in ROS2 Galactic. It is supposed that I have to use the set_model_state service but that service is not available, because when I run on the command line ros2 service list it doesn't show up. Searching the internet I have seen in a post that for this service to be available the plugin libgazebo_ros_state.so must be loaded. But the problem is that when I try to load it using the command gazebo --verbose -s libgazebo_ros_state.so I get the following error.

[Err] [gazebo_shared.cc:46] System is attempting to load a plugin, but detected an incorrect plugin type.

What could be the problem and how can I solve it? Is there another way to move a model?

Regards.