Developing custom ROS Omnigraph Nodes in C++

Hi,

I would like to extend the current ROS capabilities by adding a new Omnigraph Node.
Since the library I will be using is written in C++ the node implementation will also be done in C++.

The question I have is:
Is it possible to create a custom extension/OG-Node that uses the provided omni.isaac ROS-Bridge?
If so, is there a recommended workflow for doing that? Especially how to set up the custom nodes extension and build dependency files?

Regards
Thomas