Controlling a quadcopter in Gazebo

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Hello.

I have created the following .xacro model for quadcopter: 2 cris cross arms (box geometry) and 4 propellers (box geometry) with the libLiftDrag plugin of gazebo for these propellers. The propellers are described as "JOINTS" of "CONTINUOUS" type, and thus, i would like to use \cmd_vel to control these 4 joints seperately.

1) Is there any plugin in Gazebo, that i can use to control a "SINGLE" joint, unlike the diff_drive plugin ? If it is not, should i go about creating a custom plugin for it?

2) Even if i am able to create a plugin that will publish \cmd_vel to single joint, can i publish 4 different \cmd_vel simultaneously to each of these four joints?

Please help me sort this issue out. Thank you.