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Debugging with gdb on Gazebo Roslaunch

Hi, i use ROS Hydro and Gazebo 1.9 on Ubuntu 13.04. I want to debug a Gazebo plugins compiled as a shared library wrote in C and inserted into the simulation. I would use gdb, and i would insert breakpoint, and son on. It's possibile to do this during the simulation? How can i do? I also read this page http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB But isn't enough clear.

Thanks