Gazebo not publishing plugin topics [closed]

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I am experimenting with the new release of Gazebo that has been included in the Fuerte release. I am capable of starting a simulation and adding a model through the GUI but I find that no sensor data or other plugin generated topics are being published.

I have checked and the models do include sensor plugins, but I do note the following error when inserting one:

Error [MainWindow.cc:610] Unable to find model[box_model]
Error [MainWindow.cc:610] Unable to find model[default_pioneer_model]
Error [MainWindow.cc:610] Unable to find model[default_pioneer_model]

Despite these errors the model does appear.

When executing the model the following topics appear

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg

Do I need to run the gzsensor or gztopic binaries for this to work? They don't seem to be invoked by the standard launch files.

How can I start subscribing to sensor data?