hcrl_gazebo_plugins.xml

<library path="lib/libhcrl_gazebo">

    <class
            name="hcrl_gazebo/StretchHardwareGazebo"
            type="hcrl_gazebo::StretchHardwareGazebo"
            base_class_type="gazebo_ros_control::RobotHWSim">
        <description>
            Stretch robot simulation interface.
        </description>
    </class>
</library>