Stand alone application communicating with Gazebo

Hi, In the tutorial World Plugin, it is say that inserting a model from file via message passing is useful for stand alone applications that communicate with Gazebo over a network connection. I already tried to create a C++ program, using the Gazebo library, in order to communicate with Gazebo but I never been able to compile it because of the Gazebo library... Does anyone has a simple example to create a stand alone application (I would prefer in C++) that can communicate with Gazebo? Thank you. Mickaël