gazebo5 how make a standalone listener?

edit

I refered to this page:

https://bitbucket.org/osrf/gazebo/src/c191fd81bc0b4b8461781d1faa0f32126b70e5d4/examples/standalone/listener/listener.cc?at=gazebo55.0.0

I built it by eclipse and with -lgazebotransport -lgazebocommon but I got error as following undefined reference to gazebo::shutdown()' undefined reference togazebo::setupClient(int, char**)'

thank you ~