Add a plugin to Gazebo model

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Hi ! I developped a very simple model in order to simulate the Pepperl Fuchs R2000 laser sensor. I followed the example of the tutoriales provided by Gazebo int he following link:

http://gazebosim.org/tutorials?cat=gu...

Now I want to add functiononalities to my model and do things such as retreiving points cloud and visualize it in RViz.

My question is : Do I have to develop the plugin from scratch , as it is showed in this examples ?

http://gazebosim.org/tutorials?cat=gu...

http://gazebosim.org/tutorials?cat=gu...

OR , can I use an already developped plugin ? such as showed here:

If the answer of the second question is Yes, then how can I integrate this plugin to my model ?

Thanks a lot in advance !