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Conversion from Gazebo to ROS ?

I have made a model for my simulation which runs standalone in gazebo, it contains various custom plugins. Now I need ROS for controlling my model. I need guidelines on how to setup complete directory in catkin for my model. I have plugin which also needs to be made ROS aware. I have tried all tutorials given at Connect to ROS. But they are very basic and are not much useful as I have few custom plugins.

PS : Gazebo 7.13.1 ; ROS : Kinetic ; Ubuntu : 16.04