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c++ file in a gazebo model plugin?

Hey all!

I'm a new ros-gazebo user, I've read some tutos and I have a question.

Is it possible to use a cpp file in a gazebo plugin model? For example, can I put the cpp file somewhere in this template explained in the tuto ? Because I have a cpp file with a main function (and some more functions) , and I have a gazebo model (an iRobot create). Is it possible for the model to follow the code (passing by the plugin, or directly, or another method)?

I guess the last solution is to convert all the cpp code in a plugin langage but is there an easier way?

Thanks in advance and have a great day.

Axxeel