Custom Behaviours in c#


is there a way to create Behaviours in a .NET plugin instead of writing it in python within VC?

What I am trying to do is to connect a robot inside VC with its real counterpart via ROS, so that the simulated robot imitates the movements of the real robot.

I was able to establish a ROS connection using ROS# within a Plugin… However, the connection should not be established globally. It should be done via a component/behaviour of the respective robot in VC.

Thanks in advance!

Edit: to clarify my question
When writing plugins, I implement the interface “IPlugin” and set a "[Export(typeof(IPlugin))] attribute before the class. Is there something similar with Behaviours/Components?