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How to use AttachLightPlugin in robot ?

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It's possible to run the `touch_plugin_demo.world` and `attach_lights.world`, but after some work I was not able to add the same functionality of attach_lights in my model. The light need to be declared inside `world` and linked in `robot` ? [Here is my code.](https://github.com/patrickelectric/bluerov_ros_playground/commit/76742e06f884eda4ebbf3443e4b058fc8e8a126a)

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