using nodelet with cpp file

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I managed to build the following project https://github.com/ProjectArtemis/teg...
Instead of creating it as a cuda_library, I used add_library and when I run it with
rospack plugins --attrib=plugin nodelet
I can see the package created and that it has been linked properly.
The project has no launch file, is it possible to call the nodelet using a main.cpp file? similar to the one used in the tutorial http://wiki.ros.org/pluginlib/Tutoria... ?
if not, how do I build a nodelet launch file? I have not been able to find tutorials on this regard.
Any suggestions? Thanks!