Attention: answers.gazebosim.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.
You should be able to compile it using CMake, but you'll need to update its CMakeLists.txt file. See this example. You can take most of the CMake from there, then follow the same cmakemake steps.