Custom Object Detector

I’m currently developing an Autonomous Robot with ROS and am using the ZED 2i for navigating. I made a custom Object detector and now i have to include the detector into the ROS-Wrapper. I read, that this is not yet developed by Stereolabs itself, and i have to implement it by myself. As my experience with C++ is very limited i struggle quite a bit. Is there any example where somebody implemented a custom Detector into the source code of the zed-ros-wrapper?
Thanks for your help!