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If you have time to buy a book, chapter eight of Programming Robots with ROS has exactly what you are looking for.

If you have time to buy a book, chapter eight of Programming Robots with ROS has exactly what you are looking for.

edit:

Here are responses to your specific questions.

You do not need to convert from URDF since ROS can spawn models in Gazebo.
You do not need to write Gazebo plugins since there are already some available, like gazebo_ros_pkgs
Yes, you will still be using ROS. The joints are controlled by publishing on the appropriate topics.
I often come here for help, too :)

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