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I found the solution to this problem.

I used transmission elements for the joints (i.e the BLDC motors are modelled as joints with transmission of type "continuous") and used the VelocityJointInterface as my hardwareInterface, and used velocity_controllers/JointGroupVelocityController in my .yaml file, to command all the motors SIMULTANEOUSLY .

I also used the libLiftDragPlugin.so from Gazebo aerodynamics, that generates thrust when my propellers (modelled as thin plate in my .urdf (or) .xacro file) rotate about the joints.

No need of writing complex plugins!

Hope this helps.

Thank you!