Im using ROS2-humble what plugins, interfaces. should i add, and why? the urdf file:[![enter image description here]]
It really depends on your specific application but common plugins are:
gazebo_ros_joint_state_publisher, since the
joint_state_publishernor the gui version work with gazebo, you need this plugin to replace them.
ros2_controllerspackages to control the manipulator.
Take a look at this repo for an example for using ROS2 and Gazebo to simulate and control a manipulator.