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After some search in the rqt_rviz package I finally was able to let rqt_gui detect my C++ plugin. I will try to describe what I needed to do (those things are only useful for c++ plugins) and what sometimes really confused me (correct me if I got something wrong, I will use the package name rqt_something and the classes name will be MyGUIClass):

• The package name (rqt_something) must also be the namespace (rqt_something::MyGUIClass)
• In the plugin.xml the very first line must be changed to <library path="lib/librqt_something">

• The second line does also differ from the example (because we are using c++)

  <class name="rqt_seneka/MyGUIClass" type="rqt_something::MyGUIClass" base_class_type="rqt_gui_cpp::Plugin">

• You must add the following lines in the CMakeLists.txt before the rosbuild_add_library and after invoking the moc:

  rosbuild_include(pluginlib hide_plugin_symbols)

  pluginlib_hide_plugin_symbols(rqt_something MyGUIClass)

This should work with the example code from the C++ specific tutorial. If you want to use a .ui file (in this case myguiclass_widget.ui) you should put in in the resource folder and add the following lines to your CMakeLists.txt:

qt_wrap_ui(ui_MyGUIClass ui_MyGUIClass_HDRS ui_MyGUIClass_SRCS resource/myguiclass_widget.ui)

include_directories(${CMAKE_BINARY_DIR})

#Here comes the moc-part

#Add ${ui_MyGUIClass_HDRS} to the sources of the library as done in this example
rosbuild_add_library(${PROJECT_NAME} ${rqt_something_SRCS} ${rqt_something_MOCS} ${ui_MyGUIClass_HDRS})

I hope I did not forget anything. Maybe somebody could link to this question in the tutorials.