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While you can use the Shotgun midair to launch you further, the Rocket needs to hit an object with you near it to increase your momentum. Usually I'll shoot it at the floor and jump at the same time.
I'm not entirely certain what you mean by the 'second gauge' but maybe you are talking about the charged jump? You don't need that to make basic rocket jumps happen, but it does give you extra height when doing a jump off the ground. If it is the charge jump you are talking about, it is an early game upgrade, it requires you to hold down while standing on faerie moss located on the floor. When the bar is fully charged you jump and it will launch you fairly high. You can combine this with a rocket shot at your feet as you jump to propel yourself extremely high. If you don't have charge jump, try talking to the Seer in Factory Roof.
Hope that helps.