# Plugin Tutorial

**URL:** <https://discourse.openrobotics.org/t/plugin-tutorial/48744>\
**Category:** Gazebo Help\
**Tags:** harmonic\
**Created:** [January 2, 2024, 2:24pm UTC](https://discourse.openrobotics.org/t/plugin-tutorial/48744 "2024-01-02T14:24:16Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Biagio](https://avatars.discourse-cdn.com/v4/letter/b/898d66/32.png) [@Biagio](https://discourse.openrobotics.org/u/Biagio)\
**Post date:** [January 2, 2024, 2:24pm UTC](https://discourse.openrobotics.org/t/plugin-tutorial/48744/1 "2024-01-02T14:24:17Z")

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Hi!  
Is there any tutorial to develop plugin on Gazebo Harmonic?

I was only able to find the documentation for Gazebo-Classic. Could anyone point me to some resources that can help me get started? Thank you!

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**Author:** ![azeey](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/azeey/32/6795_2.png) [@azeey](https://discourse.openrobotics.org/u/azeey)\
**Post date:** [January 2, 2024, 4:58pm UTC](https://discourse.openrobotics.org/t/plugin-tutorial/48744/2 "2024-01-02T16:58:50Z")

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Hi @Biagio, the “Developers” section of [https://gazebosim.org/api/sim/8/tutorials.html](https://gazebosim.org/api/sim/8/tutorials.html) has tutorials on creating plugins. Hope that’s helpful.

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**Author:** ![Biagio](https://avatars.discourse-cdn.com/v4/letter/b/898d66/32.png) [@Biagio](https://discourse.openrobotics.org/u/Biagio)\
**Post date:** [January 2, 2024, 6:53pm UTC](https://discourse.openrobotics.org/t/plugin-tutorial/48744/3 "2024-01-02T18:53:25Z")

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Thank you very much! That is what I was looking for!