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Thank you for the precisions, they were helpful. However, I have no prior c++ knowledge so it's not that easy for me. I did tinker around with the code and come around with attached files. Can you please have a look at them and give some corrections and more directions ?

Thank you !

GazeboRosRfid.cpp : http://pastebin.com/DwkYhyZy

GazeboRosRfid.h : http://pastebin.com/btPgk2d4

GazeboRosRfidTag.cpp : http://pastebin.com/vxcvjPF1

GazeboRosRfidTag.h : http://pastebin.com/iC5Q1hy6

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