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How can I create an engine/differential drive and communicate with it? GAZEBO+ROS

I want to see how a DC motor responds to different inputs, mainly one similar to a drone, I tried to find in the gazebo drone model if I could do it but I am very newbie and I don't understand how to do it. Or if it is easier to take a DC motor and try it separately, it also works for me. What interests me most is knowing how to recognize a node and communicate. I'm sorry if it's a basic question or has already been answered, I haven't found it.