Do you know how to create maps in gazebo from c++?

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create a map for gazebo

Maybe nomenclature issues, but there's no concept of a map in gazebo, or in a simulation in general. You have a world which consists of a robot (probably), some scene / obstacles, lighting figures, etc.

If you're referring to a 2D map or something, then you need to create one using SLAM in the simulation prior, or code just a quick tool to take a 2D slice of a world and save it in the appropriate format.

From Gazebo plugins, you can move, add, remove, or otherwise play with the scene at any time. You should be able to create a gazebo plugin to load on request some formatted information of obstacles and locations and load them into the scene (and probably delete existing stuff).