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Finally found a solution, after failing to build a plugin from scratch.

I built gazebo_ros_pkgs from scratch and started my custom plugin by modifying an existing one, in my case gazebo_ros_pkgs/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_diff_drive.cpp.

Instructions on how to build it are here http://gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros

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