How to apply a force to a link in ignition fortress from a ros2 node

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In a ROS2 (Humble) node, I'm generating some forces that I want to apply to links in a urdf model in ignition fortress. I'm publishing to a ROS2 topic and intend to use a bidirectional bridge to send the force information (position to apply force to in link frame, origin of force in link frame, force in N) to an ignition topic. I'm a bit lost as to what to do next once the info is in the ignition topic and would appreciate a high level view as to what options I have (use an existing plugin in Fortress - [which one?], write a new ignition plugin?, use an existing ROS2 package prior to the bridge?) - any links to available resources would be appreciated!