diff --git a/include/ignition/gazebo/Conversions.hh b/include/ignition/gazebo/Conversions.hh
index 985bec6a97..e39b579340 100644
--- a/include/ignition/gazebo/Conversions.hh
+++ b/include/ignition/gazebo/Conversions.hh
@@ -49,6 +49,7 @@
 #include <sdf/Material.hh>
 #include <sdf/Noise.hh>
 #include <sdf/ParticleEmitter.hh>
+#include <sdf/Plugin.hh>
 #include <sdf/Physics.hh>
 #include <sdf/Scene.hh>
 #include <sdf/Sensor.hh>
@@ -709,6 +710,38 @@ namespace ignition
     /// \return Particle emitter message.
     template<>
     sdf::ParticleEmitter convert(const msgs::ParticleEmitter &_in);
+
+    /// \brief Generic conversion from an SDF element to another type.
+    /// \param[in] _in SDF element.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const sdf::Element &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from an SDF element to a plugin message.
+    /// \param[in] _in SDF element.
+    /// \return Plugin message.
+    template<>
+    msgs::Plugin convert(const sdf::Element &_in);
+
+    /// \brief Generic conversion from an SDF plugin to another type.
+    /// \param[in] _in SDF plugin.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const sdf::Plugin &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from an SDF plugin to a plugin message.
+    /// \param[in] _in SDF plugin.
+    /// \return Plugin message.
+    template<>
+    msgs::Plugin convert(const sdf::Plugin &_in);
     }
   }
 }
diff --git a/include/ignition/gazebo/components/SystemPluginInfo.hh b/include/ignition/gazebo/components/SystemPluginInfo.hh
new file mode 100644
index 0000000000..365886c1e4
--- /dev/null
+++ b/include/ignition/gazebo/components/SystemPluginInfo.hh
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef IGNITION_GAZEBO_COMPONENTS_SYSTEMINFO_HH_
+#define IGNITION_GAZEBO_COMPONENTS_SYSTEMINFO_HH_
+
+#include <ignition/msgs/plugin_v.pb.h>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief This component holds information about all the system plugins that
+  /// are attached to an entity. The content of each system is populated the
+  /// moment the plugin is instantiated and isn't modified throughout
+  /// simulation.
+  using SystemPluginInfo = Component<msgs::Plugin_V, class SystemPluginInfoTag,
+      serializers::MsgSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.SystemPluginInfo",
+      SystemPluginInfo)
+}
+}
+}
+}
+
+#endif
diff --git a/src/Conversions.cc b/src/Conversions.cc
index b2670983cb..28f07167d3 100644
--- a/src/Conversions.cc
+++ b/src/Conversions.cc
@@ -711,28 +711,13 @@ msgs::GUI ignition::gazebo::convert(const sdf::Gui &_in)
   out.set_fullscreen(_in.Fullscreen());
 
   // Set gui plugins
-  auto elem = _in.Element();
-  if (elem && elem->HasElement("plugin"))
+  for (uint64_t i = 0; i < _in.PluginCount(); ++i)
   {
-    auto pluginElem = elem->GetElement("plugin");
-    while (pluginElem)
-    {
-      auto pluginMsg = out.add_plugin();
-      pluginMsg->set_name(pluginElem->Get<std::string>("name"));
-      pluginMsg->set_filename(pluginElem->Get<std::string>("filename"));
-
-      std::stringstream ss;
-      for (auto innerElem = pluginElem->GetFirstElement();
-          innerElem; innerElem = innerElem->GetNextElement(""))
-      {
-        ss << innerElem->ToString("");
-      }
-      pluginMsg->set_innerxml(ss.str());
-      pluginElem = pluginElem->GetNextElement("plugin");
-    }
+    auto pluginMsg = out.add_plugin();
+    pluginMsg->CopyFrom(convert<msgs::Plugin>(*_in.PluginByIndex(i)));
   }
 
-  if (elem->HasElement("camera"))
+  if (_in.Element()->HasElement("camera"))
   {
     ignwarn << "<gui><camera> can't be converted yet" << std::endl;
   }
@@ -1759,3 +1744,51 @@ sdf::ParticleEmitter ignition::gazebo::convert(const msgs::ParticleEmitter &_in)
 
   return out;
 }
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+msgs::Plugin ignition::gazebo::convert(const sdf::Element &_in)
+{
+  msgs::Plugin result;
+
+  if (_in.GetName() != "plugin")
+  {
+    ignerr << "Tried to convert SDF [" << _in.GetName()
+           << "] into [plugin]" << std::endl;
+    return result;
+  }
+
+  result.set_name(_in.Get<std::string>("name"));
+  result.set_filename(_in.Get<std::string>("filename"));
+
+  std::stringstream ss;
+  for (auto innerElem = _in.GetFirstElement(); innerElem;
+      innerElem = innerElem->GetNextElement(""))
+  {
+    ss << innerElem->ToString("");
+  }
+  result.set_innerxml(ss.str());
+
+  return result;
+}
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+msgs::Plugin ignition::gazebo::convert(const sdf::Plugin &_in)
+{
+  msgs::Plugin result;
+
+  result.set_name(_in.Name());
+  result.set_filename(_in.Filename());
+
+  std::stringstream ss;
+  for (auto content : _in.Contents())
+  {
+    ss << content->ToString("");
+  }
+  result.set_innerxml(ss.str());
+
+  return result;
+}
diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
index 9123dd497c..4dc334fd6f 100644
--- a/src/Conversions_TEST.cc
+++ b/src/Conversions_TEST.cc
@@ -24,6 +24,7 @@
 #include <sdf/Box.hh>
 #include <sdf/Capsule.hh>
 #include <sdf/Cylinder.hh>
+#include <sdf/Element.hh>
 #include <sdf/Ellipsoid.hh>
 #include <sdf/Gui.hh>
 #include <sdf/Heightmap.hh>
@@ -1060,3 +1061,51 @@ TEST(Conversions, ParticleEmitter)
   EXPECT_EQ(emitter2.RawPose(), emitter.RawPose());
   EXPECT_FLOAT_EQ(emitter2.ScatterRatio(), emitter.ScatterRatio());
 }
+
+/////////////////////////////////////////////////
+TEST(Conversions, PluginElement)
+{
+  sdf::Root root;
+  root.LoadSdfString("<?xml version='1.0'?><sdf version='1.6'>"
+      "<world name='default'>"
+      "  <plugin filename='plum' name='peach'>"
+      "    <avocado>0.5</avocado>"
+      "  </plugin>"
+      "</world></sdf>");
+
+  auto world = root.WorldByIndex(0);
+  ASSERT_NE(nullptr, world);
+
+  auto worldElem = world->Element();
+  ASSERT_NE(nullptr, worldElem);
+
+  auto pluginElem = worldElem->GetElement("plugin");
+  ASSERT_NE(nullptr, pluginElem);
+
+  auto pluginMsg = convert<msgs::Plugin>(*(pluginElem.get()));
+  EXPECT_EQ("plum", pluginMsg.filename());
+  EXPECT_EQ("peach", pluginMsg.name());
+
+  EXPECT_NE(pluginMsg.innerxml().find("<avocado>0.5</avocado>"),
+      std::string::npos);
+}
+
+/////////////////////////////////////////////////
+TEST(Conversions, Plugin)
+{
+  sdf::Plugin pluginSdf;
+  pluginSdf.SetName("peach");
+  pluginSdf.SetFilename("plum");
+
+  auto content = std::make_shared<sdf::Element>();
+  content->SetName("avocado");
+  content->AddValue("double", "0.5", false, "");
+  pluginSdf.InsertContent(content);
+
+  auto pluginMsg = convert<msgs::Plugin>(pluginSdf);
+  EXPECT_EQ("plum", pluginMsg.filename());
+  EXPECT_EQ("peach", pluginMsg.name());
+
+  EXPECT_NE(pluginMsg.innerxml().find("<avocado>0.5</avocado>"),
+      std::string::npos) << pluginMsg.innerxml();
+}
diff --git a/src/SystemManager.cc b/src/SystemManager.cc
index 5f75fc3ec9..902804a59d 100644
--- a/src/SystemManager.cc
+++ b/src/SystemManager.cc
@@ -15,6 +15,8 @@
  *
 */
 
+#include "ignition/gazebo/components/SystemPluginInfo.hh"
+#include "ignition/gazebo/Conversions.hh"
 #include "SystemManager.hh"
 
 using namespace ignition;
@@ -120,6 +122,29 @@ void SystemManager::AddSystemImpl(
       SystemInternal _system,
       std::shared_ptr<const sdf::Element> _sdf)
 {
+  // Add component
+  if (this->entityCompMgr && kNullEntity != _system.parentEntity)
+  {
+    msgs::Plugin_V systemInfoMsg;
+    auto systemInfoComp =
+        this->entityCompMgr->Component<components::SystemPluginInfo>(
+        _system.parentEntity);
+    if (systemInfoComp)
+    {
+      systemInfoMsg = systemInfoComp->Data();
+    }
+    if (_sdf)
+    {
+      auto pluginMsg = systemInfoMsg.add_plugins();
+      pluginMsg->CopyFrom(convert<msgs::Plugin>(*_sdf.get()));
+    }
+
+    this->entityCompMgr->SetComponentData<components::SystemPluginInfo>(
+        _system.parentEntity, systemInfoMsg);
+    this->entityCompMgr->SetChanged(_system.parentEntity,
+        components::SystemPluginInfo::typeId);
+  }
+
   // Configure the system, if necessary
   if (_system.configure && this->entityCompMgr && this->eventMgr)
   {
@@ -160,16 +185,15 @@ const std::vector<ISystemPostUpdate *>& SystemManager::SystemsPostUpdate()
 //////////////////////////////////////////////////
 std::vector<SystemInternal> SystemManager::TotalByEntity(Entity _entity)
 {
+  auto checkEntity = [&](const SystemInternal &_system)
+      {
+        return _system.parentEntity == _entity;
+      };
+
   std::vector<SystemInternal> result;
-  for (auto system : this->systems)
-  {
-    if (system.parentEntity == _entity)
-      result.push_back(system);
-  }
-  for (auto system : this->pendingSystems)
-  {
-    if (system.parentEntity == _entity)
-      result.push_back(system);
-  }
+  std::copy_if(this->systems.begin(), this->systems.end(),
+      std::back_inserter(result), checkEntity);
+  std::copy_if(this->pendingSystems.begin(), this->pendingSystems.end(),
+      std::back_inserter(result), checkEntity);
   return result;
 }
diff --git a/src/SystemManager.hh b/src/SystemManager.hh
index 1d83272787..bb6db6e593 100644
--- a/src/SystemManager.hh
+++ b/src/SystemManager.hh
@@ -112,13 +112,20 @@ namespace ignition
       /// \return Vector of systems.
       public: std::vector<SystemInternal> TotalByEntity(Entity _entity);
 
+      /// \brief Implementation for AddSystem functions that takes an SDF
+      /// element. This calls the AddSystemImpl that accepts an SDF Plugin.
+      /// \param[in] _system Generic representation of a system.
+      /// \param[in] _sdf SDF element.
+      private: void AddSystemImpl(SystemInternal _system,
+                                  std::shared_ptr<const sdf::Element> _sdf);
+
       /// \brief Implementation for AddSystem functions. This only adds systems
       /// to a queue, the actual addition is performed by `AddSystemToRunner` at
       /// the appropriate time.
       /// \param[in] _system Generic representation of a system.
       /// \param[in] _sdf SDF received from AddSystem.
       private: void AddSystemImpl(SystemInternal _system,
-                                  std::shared_ptr<const sdf::Element> _sdf);
+                                  const sdf::Plugin &_sdf);
 
       /// \brief All the systems.
       private: std::vector<SystemInternal> systems;
diff --git a/src/SystemManager_TEST.cc b/src/SystemManager_TEST.cc
index 454f53e45a..b53d63d24c 100644
--- a/src/SystemManager_TEST.cc
+++ b/src/SystemManager_TEST.cc
@@ -21,6 +21,7 @@
 #include "ignition/gazebo/System.hh"
 #include "ignition/gazebo/SystemLoader.hh"
 #include "ignition/gazebo/Types.hh"
+#include "ignition/gazebo/components/SystemPluginInfo.hh"
 #include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
 #include "SystemManager.hh"
@@ -202,3 +203,60 @@ TEST(SystemManager, AddSystemEcm)
   EXPECT_EQ(1u, systemMgr.SystemsPostUpdate().size());
 }
 
+/////////////////////////////////////////////////
+TEST(SystemManager, AddSystemWithInfo)
+{
+  auto loader = std::make_shared<SystemLoader>();
+
+  EntityComponentManager ecm;
+  auto entity = ecm.CreateEntity();
+  EXPECT_NE(kNullEntity, entity);
+
+  auto eventManager = EventManager();
+
+  SystemManager systemMgr(loader, &ecm, &eventManager);
+
+  // No element, no SystemPluginInfo component
+  auto configSystem = std::make_shared<SystemWithConfigure>();
+  systemMgr.AddSystem(configSystem, entity, nullptr);
+
+  // Element becomes SystemPluginInfo component
+  auto pluginElem = std::make_shared<sdf::Element>();
+  sdf::initFile("plugin.sdf", pluginElem);
+  sdf::readString("<?xml version='1.0'?><sdf version='1.6'>"
+      "  <plugin filename='plum' name='peach'>"
+      "    <avocado>0.5</avocado>"
+      "  </plugin>"
+      "</sdf>", pluginElem);
+
+  auto updateSystem = std::make_shared<SystemWithUpdates>();
+  systemMgr.AddSystem(updateSystem, entity, pluginElem);
+
+  int entityCount{0};
+  ecm.Each<components::SystemPluginInfo>(
+      [&](const Entity &_entity,
+          const components::SystemPluginInfo *_systemInfoComp) -> bool
+      {
+        EXPECT_EQ(entity, _entity);
+
+        EXPECT_NE(nullptr, _systemInfoComp);
+        if (nullptr == _systemInfoComp)
+          return true;
+
+        auto pluginsMsg = _systemInfoComp->Data();
+        EXPECT_EQ(1, pluginsMsg.plugins().size());
+        if (1u != pluginsMsg.plugins().size())
+          return true;
+
+        auto pluginMsg = pluginsMsg.plugins(0);
+        EXPECT_EQ("plum", pluginMsg.filename());
+        EXPECT_EQ("peach", pluginMsg.name());
+        EXPECT_NE(pluginMsg.innerxml().find("<avocado>0.5</avocado>"),
+            std::string::npos);
+
+        entityCount++;
+        return true;
+      });
+  EXPECT_EQ(1, entityCount);
+}
+
diff --git a/src/gui/plugins/component_inspector/CMakeLists.txt b/src/gui/plugins/component_inspector/CMakeLists.txt
index d4bc795abc..53119092b1 100644
--- a/src/gui/plugins/component_inspector/CMakeLists.txt
+++ b/src/gui/plugins/component_inspector/CMakeLists.txt
@@ -2,7 +2,9 @@ gz_add_gui_plugin(ComponentInspector
   SOURCES
     ComponentInspector.cc
     Pose3d.cc
+    SystemPluginInfo.cc
   QT_HEADERS
     ComponentInspector.hh
     Pose3d.hh
+    SystemPluginInfo.hh
 )
diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
index 5bf8124493..4185b826fb 100644
--- a/src/gui/plugins/component_inspector/ComponentInspector.cc
+++ b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -62,6 +62,7 @@
 #include "ignition/gazebo/components/SourceFilePath.hh"
 #include "ignition/gazebo/components/SphericalCoordinates.hh"
 #include "ignition/gazebo/components/Static.hh"
+#include "ignition/gazebo/components/SystemPluginInfo.hh"
 #include "ignition/gazebo/components/ThreadPitch.hh"
 #include "ignition/gazebo/components/Transparency.hh"
 #include "ignition/gazebo/components/Visual.hh"
@@ -73,6 +74,7 @@
 
 #include "ComponentInspector.hh"
 #include "Pose3d.hh"
+#include "SystemPluginInfo.hh"
 
 namespace ignition::gazebo
 {
@@ -114,6 +116,9 @@ namespace ignition::gazebo
 
     /// \brief Handles all components displayed as a 3D pose.
     public: std::unique_ptr<inspector::Pose3d> pose3d;
+
+    /// \brief Handles all system info components.
+    public: std::unique_ptr<inspector::SystemPluginInfo> systemInfo;
   };
 }
 
@@ -475,6 +480,8 @@ void ComponentInspector::LoadConfig(const tinyxml2::XMLElement *)
 
   // Type-specific handlers
   this->dataPtr->pose3d = std::make_unique<inspector::Pose3d>(this);
+  this->dataPtr->systemInfo =
+      std::make_unique<inspector::SystemPluginInfo>(this);
 }
 
 //////////////////////////////////////////////////
diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml
index 90a1e53dcb..21f43e9506 100644
--- a/src/gui/plugins/component_inspector/ComponentInspector.qml
+++ b/src/gui/plugins/component_inspector/ComponentInspector.qml
@@ -245,6 +245,14 @@ Rectangle {
 
     delegate: Loader {
       id: loader
+
+      /**
+       * Most items can access model.data directly, but items like ListView,
+       * which have their own `model` property, can't. They can use
+       * `componentData` instead.
+       */
+      property var componentData: model.data
+
       source: delegateQml(model)
     }
   }
diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qrc b/src/gui/plugins/component_inspector/ComponentInspector.qrc
index 79b7d8a30d..24b9a85cfb 100644
--- a/src/gui/plugins/component_inspector/ComponentInspector.qrc
+++ b/src/gui/plugins/component_inspector/ComponentInspector.qrc
@@ -12,6 +12,7 @@
   <file>Pose3d.qml</file>
   <file>SphericalCoordinates.qml</file>
   <file>String.qml</file>
+  <file>SystemPluginInfo.qml</file>
   <file>TypeHeader.qml</file>
   <file>Vector3d.qml</file>
   <file>plottable_icon.svg</file>
diff --git a/src/gui/plugins/component_inspector/ExpandingTypeHeader.qml b/src/gui/plugins/component_inspector/ExpandingTypeHeader.qml
index c233ecf775..f36a0c6f6f 100644
--- a/src/gui/plugins/component_inspector/ExpandingTypeHeader.qml
+++ b/src/gui/plugins/component_inspector/ExpandingTypeHeader.qml
@@ -34,6 +34,9 @@ Rectangle {
   // Left indentation
   property int indentation: 10
 
+  // Expose TypeHeader's custom tooltip
+  property alias customToolTip: typeHeader.customToolTip
+
   RowLayout {
     anchors.fill: parent
     Item {
@@ -55,7 +58,17 @@ Rectangle {
       Layout.fillWidth: true
     }
   }
+  ToolTip {
+    visible: ma.containsMouse
+    delay: tooltipDelay
+    text: typeHeader.customToolTip.length > 0 ?
+        typeHeader.customToolTip : typeHeader.tooltipText(componentData)
+    y: typeHeader.y - 30
+    enter: null
+    exit: null
+  }
   MouseArea {
+    id: ma
     anchors.fill: parent
     hoverEnabled: true
     cursorShape: Qt.PointingHandCursor
diff --git a/src/gui/plugins/component_inspector/SystemPluginInfo.cc b/src/gui/plugins/component_inspector/SystemPluginInfo.cc
new file mode 100644
index 0000000000..e8ecf8a932
--- /dev/null
+++ b/src/gui/plugins/component_inspector/SystemPluginInfo.cc
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <ignition/msgs/plugin_v.pb.h>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gazebo/components/SystemPluginInfo.hh>
+
+#include "SystemPluginInfo.hh"
+#include "ComponentInspector.hh"
+#include "Types.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace inspector;
+
+/////////////////////////////////////////////////
+SystemPluginInfo::SystemPluginInfo(ComponentInspector *_inspector)
+{
+  _inspector->Context()->setContextProperty("SystemPluginInfoImpl", this);
+  this->inspector = _inspector;
+
+  this->inspector->AddUpdateViewCb(components::SystemPluginInfo::typeId,
+      std::bind(&SystemPluginInfo::UpdateView, this, std::placeholders::_1,
+      std::placeholders::_2));
+}
+
+/////////////////////////////////////////////////
+void SystemPluginInfo::UpdateView(const EntityComponentManager &_ecm,
+    QStandardItem *_item)
+{
+  auto comp = _ecm.Component<components::SystemPluginInfo>(
+      this->inspector->GetEntity());
+  if (nullptr == _item || nullptr == comp)
+    return;
+
+  auto msg = comp->Data();
+
+  _item->setData(QString("SystemPluginInfo"),
+      ComponentsModel::RoleNames().key("dataType"));
+
+  QList<QVariant> pluginList;
+  for (int i = 0; i < msg.plugins().size(); ++i)
+  {
+    QList<QVariant> dataList;
+    dataList.push_back(
+        QVariant(QString::fromStdString(msg.plugins(i).name())));
+    dataList.push_back(
+        QVariant(QString::fromStdString(msg.plugins(i).filename())));
+    dataList.push_back(
+        QVariant(QString::fromStdString(msg.plugins(i).innerxml())));
+    pluginList.push_back(dataList);
+  }
+
+  _item->setData(pluginList,
+      ComponentsModel::RoleNames().key("data"));
+}
+
diff --git a/src/gui/plugins/component_inspector/SystemPluginInfo.hh b/src/gui/plugins/component_inspector/SystemPluginInfo.hh
new file mode 100644
index 0000000000..43c2698c9c
--- /dev/null
+++ b/src/gui/plugins/component_inspector/SystemPluginInfo.hh
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_SYSTEMINFO_HH_
+#define IGNITION_GAZEBO_GUI_COMPONENTINSPECTOR_SYSTEMINFO_HH_
+
+#include "ignition/gazebo/EntityComponentManager.hh"
+
+#include <QObject>
+#include <QStandardItem>
+
+namespace ignition
+{
+namespace gazebo
+{
+class ComponentInspector;
+namespace inspector
+{
+  /// \brief A class that handles SystemPluginInfo components.
+  class SystemPluginInfo : public QObject
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    /// \param[in] _inspector The component inspector.
+    public: explicit SystemPluginInfo(ComponentInspector *_inspector);
+
+    /// \brief Callback when there are ECM updates.
+    /// \param[in] _ecm Immutable reference to the ECM.
+    /// \param[in] _item Item to update.
+    public: void UpdateView(const EntityComponentManager &_ecm,
+        QStandardItem *_item);
+
+    /// \brief Pointer to the component inspector. This is used to add
+    /// callbacks.
+    private: ComponentInspector *inspector{nullptr};
+  };
+}
+}
+}
+#endif
diff --git a/src/gui/plugins/component_inspector/SystemPluginInfo.qml b/src/gui/plugins/component_inspector/SystemPluginInfo.qml
new file mode 100644
index 0000000000..2e4d487b7f
--- /dev/null
+++ b/src/gui/plugins/component_inspector/SystemPluginInfo.qml
@@ -0,0 +1,235 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 1.4
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Styles 1.4
+import "qrc:/ComponentInspector"
+
+Rectangle {
+  id: systemInfoComponent
+  height: header.height + content.height
+  width: componentInspector.width
+  color: index % 2 == 0 ? lightGrey : darkGrey
+
+  // Left indentation
+  property int indentation: 10
+
+  // Horizontal margins
+  property int margin: 5
+
+  // Light text color according to theme
+  property string propertyColor: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+
+  // Dark text color according to theme
+  property string valueColor: Material.theme == Material.Light ? "black" : "white"
+
+  Column {
+    anchors.fill: parent
+
+    ExpandingTypeHeader {
+      id: header
+      customToolTip: "Information about system plugins attached to this entity"
+    }
+
+    // Content
+    Rectangle {
+      id: content
+      property bool show: false
+      width: parent.width
+      height: show ? column.height : 0
+      clip: true
+      color: "transparent"
+
+      Behavior on height {
+        NumberAnimation {
+          duration: 200;
+          easing.type: Easing.InOutQuad
+        }
+      }
+
+      ListView {
+        id: column
+        height: contentHeight
+        model: componentData
+        width: content.width
+        spacing: 5
+
+        delegate: Column {
+          width: content.width
+          height: pluginHeader.height + pluginContent.height
+
+          Rectangle {
+            id: pluginHeader
+            width: content.width
+            color: "transparent"
+            height: 20
+            RowLayout {
+              anchors.fill: parent
+              Item {
+                width: margin * 2 + indentation
+              }
+              Image {
+                id: icon
+                sourceSize.height: indentation
+                sourceSize.width: indentation
+                fillMode: Image.Pad
+                Layout.alignment : Qt.AlignVCenter
+                source: pluginContent.show ?
+                    "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png"
+              }
+              Text {
+                height: parent.height
+                text: modelData[0].substring(modelData[0].lastIndexOf('::') + 2)
+                Layout.alignment : Qt.AlignVCenter
+                leftPadding: margin
+                color: propertyColor
+                font.pointSize: 12
+              }
+              Item {
+                Layout.fillWidth: true
+              }
+            }
+            MouseArea {
+              anchors.fill: pluginHeader
+              hoverEnabled: true
+              cursorShape: Qt.PointingHandCursor
+              onClicked: {
+                pluginContent.show = !pluginContent.show
+              }
+              onEntered: {
+                pluginHeader.color = highlightColor
+              }
+              onExited: {
+                pluginHeader.color = "transparent"
+              }
+            }
+          }
+          GridLayout {
+            id: pluginContent
+            property bool show: false
+            width: parent.width
+            height: show ? 20 * 4 + innerXmlText.height : 0
+            clip: true
+            columns: 4
+
+            Behavior on height {
+              NumberAnimation {
+                duration: 200;
+                easing.type: Easing.InOutQuad
+              }
+            }
+            Item {
+              Layout.rowSpan: 4
+              width: margin * 4 + indentation * 2
+            }
+            Text {
+              height: 20
+              text: "Name"
+              color: propertyColor
+              font.pointSize: 12
+            }
+            Text {
+              height: 20
+              text: modelData[0]
+              color: valueColor
+              font.pointSize: 12
+              clip: true
+              elide: Text.ElideLeft
+              horizontalAlignment: Text.AlignRight
+              Layout.fillWidth: true
+
+              ToolTip {
+                visible: maName.containsMouse
+                delay: Qt.styleHints.mousePressAndHoldInterval
+                text: modelData[0]
+                enter: null
+                exit: null
+              }
+              MouseArea {
+                id: maName
+                anchors.fill: parent
+                hoverEnabled: true
+              }
+            }
+            Item {
+              Layout.rowSpan: 4
+              width: margin
+            }
+            Text {
+              height: 20
+              text: "Filename"
+              color: propertyColor
+              font.pointSize: 12
+            }
+            Text {
+              height: 20
+              text: modelData[1]
+              color: valueColor
+              font.pointSize: 12
+              clip: true
+              elide: Text.ElideLeft
+              horizontalAlignment: Text.AlignRight
+              Layout.fillWidth: true
+
+              ToolTip {
+                visible: maFilename.containsMouse
+                delay: Qt.styleHints.mousePressAndHoldInterval
+                text: modelData[1]
+                enter: null
+                exit: null
+              }
+              MouseArea {
+                id: maFilename
+                anchors.fill: parent
+                hoverEnabled: true
+              }
+            }
+            Text {
+              height: 20
+              text: "Inner XML"
+              color: propertyColor
+              font.pointSize: 12
+              Layout.columnSpan: 2
+            }
+            Rectangle {
+              id: innerXmlRectangle
+              Layout.columnSpan: 2
+              Layout.fillWidth: true
+              height: innerXmlText.paintedHeight
+              color: Material.background
+              TextEdit {
+                id: innerXmlText
+                width: parent.width
+                text: modelData[2].length == 0 ? "N/A" : modelData[2].trim()
+                color: valueColor
+                textFormat: TextEdit.PlainText
+                font.pointSize: 10
+                clip: true
+                readOnly: true
+                wrapMode: Text.WordWrap
+                selectByMouse: true
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/src/gui/plugins/component_inspector/TypeHeader.qml b/src/gui/plugins/component_inspector/TypeHeader.qml
index 5cb0b39e2b..d8dd9221d5 100644
--- a/src/gui/plugins/component_inspector/TypeHeader.qml
+++ b/src/gui/plugins/component_inspector/TypeHeader.qml
@@ -27,6 +27,10 @@ Rectangle {
   width: headerText.width
   color: "transparent"
 
+  // Custom tooltip text. If not set, the component's type name and ID will be
+  // shown.
+  property string customToolTip: ""
+
   function tooltipText(_model) {
     if (model === null)
       return "Unknown component"
@@ -50,7 +54,7 @@ Rectangle {
     ToolTip {
       visible: ma.containsMouse
       delay: tooltipDelay
-      text: tooltipText(model)
+      text: customToolTip.length > 0 ? customToolTip : typeHeader.tooltipText(componentData)
       y: typeHeader.y - 30
       enter: null
       exit: null
diff --git a/src/gui/plugins/component_inspector_editor/Pose3d.qml b/src/gui/plugins/component_inspector_editor/Pose3d.qml
index 8b2acf20ac..40e3bf9ba9 100644
--- a/src/gui/plugins/component_inspector_editor/Pose3d.qml
+++ b/src/gui/plugins/component_inspector_editor/Pose3d.qml
@@ -315,7 +315,7 @@ Rectangle {
           id: zSpin
           Layout.fillWidth: true
           height: 40
-          numberValue: model.data[2] 
+          numberValue: model.data[2]
           minValue: -Number.MAX_VALUE
           maxValue: Number.MAX_VALUE
           stepValue: 0.1