I was trying to follow the following documentation for creating a system plugin, but adapting in not for version 4.5.0 which is what the documentation seems to be pegged at, but for garden which is version 7.0. From what I can tell the CMakeLists.txt file commands need to be changed (they commands used are different in the gz-sim repo for plugins from what is on the above tutorial) but I'm unsure how to get it to build correctly with gazebo garden.

Question1 : What is the CMakeLists.txt file commands that I need to use now in Garden as opposed to above documentation?

Question 2 : Is there a tutorial in general for cmake for gazebo garden for all the options etc, that go into it, and how to do the build correctly?