How do i write a custom Gazebo plugin that uses ROS2

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I need to manipulate some joints on a gazebo model and also publish some model properties. I would like to do this using a ROS2 node.

I was able to write a custom model plugin for gazebo that does the needed model manipulations.

I am also able to write a basic ROS2 node that publishes & subscribes.

I don't know how to integrate the two, ROS2 + gazebo. I basically need a model plugin that spawns a ROS2 node. There seem to be different build systems for each of them, i cannot find any documentation on how they go together.

gazebo_ros2_control seems to be close to what i need, but that project does not build for me either, and I would prefer a custom plugin so I am able to control everything i need better.

thanks