How to simulate vacuum gripper in Ignition gazebo (gazebo fortress)?

[XKai-L]

I am using Ignition Gazebo ( Gazebo Fortress) and ROS2 Humble environment. But the libgazebo_ros_vacuum_gripper.so plugin is for Gazebo Classic. When I add this plugin to my .xacro file and willing to simulate vacuum gripper action, an error occurs.

[ruby $(which ign) gazebo-1] Library [/opt/ros/humble/lib/libgazebo_ros_vacuum_gripper.so] does not export any plugins. The symbol [IgnitionPluginHook] is missing, or it is not externally visible.

So there is any way that I can simulate vacuum gripper in Ignition Gazebo?