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@inflo :
Okay, so here's my final package. I organized it this way :

plugin_panel/
|__ CMakeLists.txt
|__ package.xml
|__ plugin_description.xml
|__ include/
    |__ plugin_panel.h
|__ src/
    |__ plugin_panel.cpp

The plugin displays a simple dockable panel with two QPushButton.
- CMakeLists.txt :

cmake_minimum_required(VERSION 2.8.11)

project(plugin_panel)

find_package(catkin REQUIRED)
find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui)

include(${QT_USE_FILE})
include_directories(include/)

qt4_wrap_cpp(QT_MOC include/plugin_panel.h)
set(SOURCES src/plugin_panel.cpp ${QT_MOC})

add_library(${PROJECT_NAME} ${SOURCES})

target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})

- package.xml :

<?xml version="1.0"?>
<package>
    <name>plugin_panel</name>

    <version>1.0.0</version>

    <description>
        An additional panel in RViz.
    </description>

    <maintainer email="none@none.none">Matthieu</maintainer>

    <license>BSD</license>

    <buildtool_depend>catkin</buildtool_depend>

    <build_depend>rviz</build_depend>

    <run_depend>rviz</run_depend>

    <export>
        <rviz plugin="${prefix}/plugin_description.xml"/>
    </export>
</package>

- plugin_description.xml :

<library path="lib/libplugin_panel">
    <class name="plugin_panel/HelloWorld"
           type="PluginPanel"
           base_class_type="rviz::Panel">
        <description>
            An empty panel.
        </description>
    </class>
</library>

- include/plugin_panel.h :

#include <QtGui>

#include <rviz/panel.h>

class PluginPanel: public rviz::Panel
{
    Q_OBJECT

public:
    PluginPanel(QWidget* parent = 0);

protected:
    QVBoxLayout* _vbox;

    QPushButton* _button1;
    QPushButton* _button2;
};

- src/plugin_panel.cpp :

#include <pluginlib/class_list_macros.h>

#include "plugin_panel.h"

PluginPanel::PluginPanel(QWidget* parent):
    rviz::Panel(parent)
{
    _vbox = new QVBoxLayout();

    _button1 = new QPushButton(tr("Button 1"));
    _button2 = new QPushButton(tr("Button 2"));

    _button1->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
    _button2->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);

    _vbox->addWidget(_button1);
    _vbox->addWidget(_button2);

    setLayout(_vbox);
}

PLUGINLIB_EXPORT_CLASS(PluginPanel, rviz::Panel)

That's it!
That's the minimum code I found after many iterations, each time trying to remove as much thing as possible from any files.