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gz command can help here. I use it to send joint commands to the pioneer2dx, for example:

gz joint -m pioneer2dx -j left_wheel_hinge --vel-t 1.0 --vel-p 1.0

This will send a joint command to the joint left_wheel_hinge of the model named pioneer2dx. The message is sent as a one-shot so may not do what you want, but it can be useful for testing.