ROS Gazebo control wheel state from own control?

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Hi,

I have an actual robot that I want to simulate, I have tried many gazebo plugins and have found nothing replicates the operation of the robot the same as real. I was hoping I could publish the joint states from the code that controls the motors? Could anyone please provide me examples of how to set this up in URDF and how I would control the state of a wheel from software? I thought maybe using a ros_control effort controller? Maybe a velocity controller? I am just not sure how to publish this detail for Gazebo?

Primarily I need to set minimum wheel velocities based on conditionals

Thanks, Grant.