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Hi @abracadabra,
I suggest this book: Mastering ROS for Robotics Programming Third Edition by Lentin Joseph and Jonathan Cacace. Chapter 3 and 4 are step by step of what you are looking to set up the robot arm in Gazebo first but it looks you have done this step. However it's critical as the other steps build on that.
Check this tutorial to connect to a robot arm with C++: https://community.arm.com/arm-research/b/articles/posts/do-you-want-to-build-a-robot
I also suggest you look into MoveIt as it's many great examples and there is a tutorial how to integrate with Gazebo: https://ros-planning.github.io/moveit_tutorials/doc/gazebo_simulation/gazebo_simulation.html
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