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It's not clear to me whether a gazebo plugin is necessary for what you want, so decide that before pursuing the following.

If it is, here are a couple gazebo plugin tutorial links (from the link above).

I'm leaving that sparse because I've found the gazebo tutorials to be, let's say, unhelpful -- call it information overload. What did work for me was to look at and learn from already written plugins as examples (like those from the ROS simulation github repository).