[dawonn]

You will probably need to make a custom Gazebo Plugin that describes your robot's kinematics and control signals. I also haven't looked to terribly deep into it myself yet, but I have worked with Gazebo quite a bit in the past.

IIRC: You can define the structure of your robot in an XML type file where you specify each joint and link in your system, then write a c++ plugin that describes how to control each joint.