We theoretically demonstrate that dc electron flow across the junction of two-dimensional electron systems leads to excitation of edge magnetoplasmons. The threshold current for such plasmon excitation does not depend on contact effects and approaches zero for ballistic electron systems, which makes a strong distinction from the well-known Dyakonov-Shur and Cerenkov-type instabilities. We estimate the competing plasmon energy gain from dc current and loss due to electron scattering. We show that plasmon self excitation is feasible in GaAs-based heterostructures at $Tlesssim 200$ K and magnetic fields $B lesssim 10$ T.