Error Plugin libgazebo_ros_camera.so

Hi, I am trying to implement a basic camera using ROS (**Kinetic**) and Gazebo (v **7.5**). I need the ROS plugin to publish my frames on a rostopic. I am using the **SDF** standard and not **URDF**. I had trouble finding such a plugin. First I tried to compile it myself from the sources found [there](http://docs.ros.org/jade/api/gazebo_plugins/html/gazebo__ros__camera_8cpp_source.html) using this CMakeLists.txt : cmake_minimum_required(VERSION 2.8 FATAL_ERROR) project(ros_gazebo_camera) include_directories(${roscpp_INCLUDE_DIRS}) include_directories(${std_msgs_INCLUDE_DIRS}) link_directories(${roscpp_LIBRARY_DIRS}) link_directories(${std_msgs_LIBRARY_DIRS}) # Find Gazebo find_package(gazebo REQUIRED) include_directories(${GAZEBO_INCLUDE_DIRS}) link_directories(${GAZEBO_LIBRARY_DIRS}) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") # Build our plugins add_library(gazebo_ros_camera_utils gazebo_ros_camera_utils.cpp) add_dependencies(gazebo_ros_camera_utils ${PROJECT_NAME}_gencfg) target_link_libraries(gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_camera gazebo_ros_camera.cpp) add_dependencies(gazebo_ros_camera ${PROJECT_NAME}_gencfg) target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES}) It created the shared library, but when using it in this SDF model model://sunmodel://ground_planemodel://camera using the command gazebo --verbose ../camera.world But after launching successfuly Gazebo I received the error [Err] [Plugin.hh:165] Failed to load plugin libCameraPlugin.so: /home/adrien/camera_plugin/build/libCameraPlugin.so: undefined symbol: _ZTIN6gazebo12CameraPluginE From different forums I found it meant that my linkage was not done properly in the CMakeLists.txt. I haven't been able to solve this. I finally compile *gazebo_ros_pkgs*. The compilation provides many plugins including the one interesting me : *libgazebo_ros_camera.so* But when using this library as the plugin of my camera in my SDF world file I receive the following error after launching Gazebo : [Err] [Model.cc:1058] Model[my_camera] is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename[libgazebo_ros_camera.so] name[CameraPlugin] So far I have no idea of what that error means. I would appreciate any help ! Thanks in advance, Adrien.