# Revision history [back]

### How to insert Gazebo plugin in an existing World Model?

OK, from the tutorials I learned how to make a Gazebo Plugin. I successfully made the plugin and got the '.so' file.

I have an existing ROS package, which has world files and a lib folder with many '.so' files. How do I add my plugin to this existing package? I tried simple copying 'my_model.so' file in lib folder and modifying the respective <plugin ...="" filename="my_model.so" ..="" &gt;="" command.<="" p="">

But it did not seems to work?

 2 None gvdhoorn 60173 ●133 ●532 ●722 http://cor.tudelft.nl/

### How to insert Gazebo plugin in an existing World Model?

OK, from the tutorials I learned how to make a Gazebo Plugin. I successfully made the plugin and got the '.so' file.

I have an existing ROS package, which has world files and a lib folder with many '.so' files. How do I add my plugin to this existing package? I tried simple copying 'my_model.so' file in lib folder and modifying the respective <plugin ...="" filename="my_model.so" ..="" &gt;="" command.<="" p=""> ... filename="my_model.so".. > command.

But it did not seems to work? work?