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It should be fixed now (https://bitbucket.org/osrf/gazebo/issue/1014/libgazebo_ros_api_pluginso-undefined). After I upgraded my gazebo packages, I worked for me:

sudo apt-get install ros-hydro-gazebo-plugins-current
sudo apt-get install ros-hydro-gazebo-ros-current

It should be fixed ~~now (https://bitbucket.org/osrf/gazebo/issue/1014/libgazebo_ros_api_pluginso-undefined).~~ now. After I upgraded my gazebo packages, I it worked for me:

sudo apt-get install ros-hydro-gazebo-plugins-current
sudo apt-get install ros-hydro-gazebo-ros-current

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