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This is probably not the correct answer as I'm confused myself. I believe you need to create a world file that contains your robot (including joints and collision definitions) and open that world file in Gazebo. At that point you can use the force menu in Gazebo to manually apply forces to the robot joints and move your robot around the simulated world. What it takes to get your own robot control code running and connected to the simulated robot joints, I do not know. The Gazebo tutorials seem disjointed to me. I wish they would take a newbie from an empty world all the way through creation of a robot model and then creation of robot control software and then execution of that robot control software within the Gazebo simulation.
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