Actors in ROS Melodic, Gazebo 9

Hi, I am using ROS Melodic and Gazebo9 for simulating a world that has a bunch of VLP-16 Lidar sensors. I am using gazebo_ros to read the Gazebo world in ROS and visualize it in RVIZ I am able to visualize a model (with tag) in RViz, but I cannot get an actor to be visualized. I want to use [actors](http://gazebosim.org/tutorials?tut=actor&cat=build_robo) to build animated models that I can run in Gazebo and visualize the data in RVIZ. I was wondering if ROS supports actors/animated models ? Thanks in advance