Motor failure plugin in Gazebo SITL topic not generating

I am currently trying to find out how to use the plugin
in the iris model

I have tried “catkin build -DBUILD_ROS_INTERFACE=ON” in the directory

and also tried adding the motor failure plugin to the iris.sdf model like others did:

<plugin name="motor_failure" filename="">

but the ROS topic /motor_failure/motor_number does not generate
Is there a way to solve this?

Thank you,
Kangmin Lee