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How to enable Gazebo gui plugin when using roslaunch and urdf?

I am running the turtlebot3 in gazebo environment using roslaunch. I want to use a custom gazebo gui plugin but on the gazebo tutorial it stated that gui plugin can't be referenced through a URDF file. Is there a way I can use the gui plugin?

Maybe I can try passing the argument -g <plugin.so> or -s <plugin.so> inside the launch file but I am not sure how to do that properly.