Setting up a TCP server on gazebo ::Unable to use the gazebo::transport::Conection::listen() function

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I am a beginner on gazebo I am trying to figure out how to use the gazebo::transport::Connection::Listen() function

Im unable to understand how to write the accept callback function I would be grateful if any one could post an example or guide me on how to write the accept callback function What ive written so far is : //In the load function transport::ConnectionPtr IMUcomm; IMUcomm = transport::ConnectionPtr(new transport::Connection); IMUcomm->Listen(30000,acceptME);

//Outside the load but in the gazebo namespace void acceptME(const transport::ConnectionPtr& comm) {}