I have a robot with 8 revolute joints, four to steering and four to propulsion and i want to send to topics to the node Gazebo, that send the angles and linear speed based to the joints.I have the code in C++ but the topics aren't been send to the robot.I used the skidsteerdrivecontroller plugin but an error occurs because the messages are stdmsgs / Float32 and not geometry_msgs / Twist.What would be a way to send the commands to the joints?