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CMake couldn't figure out what language your file was written in. I couldn't find the CMake documentation about how it guesses what language a file is written in, but this stackoverflow post has more info. You can tell CMake the language explicitly by setting a property on the library target.

Add this after the call to add_library

set_target_properties(gazebo_ros_moveit_planning_scene PROPERTIES LINKER_LANGUAGE CXX)

Side note, Is all the code for your gazebo plugin in gazebo_ros_moveit_planning_scene.h? Often code is divided into a header and source file. If all the code is in that file then it is more common to name it .cpp or .cc. The extension .h is usually given to C header files.