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How to control a model in a running simulation, and how to control when they should be inserted

The official website(http://gazebosim.org/tutorials?tut=plugins_world_properties&cat=write_plugin) introduces that "It can be useful to control what models exist in a running simulation, and when they should be inserted. ". I follow the instructions on the official website. but it seem that it will be load all plugins before start world , so I can’t control any other time to insert the model. I want to know how to insert a model in any other time.

Hi @kerry, technical help questions, such as this, should be asked on answers.gazebosim.org . This forum is meant for general discussions, community organization, news, and other topics. See you there!