Compute mass matrix with ROS

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I want to control UR10 inside Gazebo simulation and ROS. I settled down the issue of planning motion with MoveIT and executing trajectories using position_controllers/JointTrajectoryController. Now I would like to model dynamics of the arm and control it using forces.

My control signal is going to be set like this:

So here are two questions:

1. Is it possible to compute mass matrix M and gravity vector g using built it ROS packages or should I do it manually? For me it seems like the computation can be performed automatically because all the required information is specified in URDF file. Nevertheless I have not found any information about how to do it.

2. It seems like I need custom controller in between MoveIT's move_group_interface and Gazebo's torque controller which will take care of computing u and pass it to the Gazebo controller. How should I do that?

Thanks!