gazebo-yarp-plugins 
The gazebo-yarp-plugins are a set of Gazebo plugins that expose YARP interfaces for robot simulated in Gazebo. The main design objective for the gazebo-yarp-plugins is to provide the exact same interfaces that can be found in real world YARP-powered robot in the Gazebo simulation, to ensure that YARP-based software can run with no modifications both in simulation and on the real robots.
For installing and using the plugins, check the main page of the documentation.