<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<plugin name="hello_world" filename="libhello_world.so"/>
</world>
</sdf>
You should see output similar to:
Gazebo multi-robot simulator, version 1.9.5
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
Hello World!