Stand alone application communicating with Gazebo

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Hi,

In the tutorial World Plugin, it is say that inserting a model from file via message passing is useful for stand alone applications that communicate with Gazebo over a network connection.

I already tried to create a C++ program, using the Gazebo library, in order to communicate with Gazebo but I never been able to compile it because of the Gazebo library...

Does anyone has a simple example to create a stand alone application (I would prefer in C++) that can communicate with Gazebo?

Thank you.

Mickaël