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ROS control with an SDF robot

Hi, I have a robot that is described with an SDF file. I am able to spawn it and it works fine. However, I would like to control the joints. How do I add actuators to the joints similar to transmissions for URDF, so that I can control and move the joints in Gazebo? I don't want to convert to URDF since I plan to include closed-kinematic chains to my model. Thanks.