ROS Control Gazebo Plugin

[mictas]

Hello,
I'm new about ROS and Gazebo so I'm sorry if my question can seem trivial.
I follwed the "Gazebo ROS Control Tutorial" at the link: http://gazebosim.org/tutorials/?tut=ros_control.
It is a very good tutorial and I've tested rrbot example. It worked fine.
I've also tried to adapt it to our robot project and it works fine.
In the file "rrbot.gazebo" it is used the plugin "libgazebo_ros_control.so" and it is selected gazebo_ros_control/DefaultRobotHWSim.
Are these type of instructions valid for all type of robots?
If not, must I create a custom "ros_control.so" plugin for my robot?
Thank you.