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Hector quadrotor motor controller

Hello guys, I am trying to get a grasp of the hector quadrotor. I see that we can control the quadrotor by publishing twist message types on cmd/vel topic. But i wanted to develop a motor controller. Like publishing pwm messages on a topic and control motors. I have looked at the propulsion plugin but i am a bit confused. Any suggestion or ideas in this regard will be appreciated. Thanks. For the system info, i am on ROS Kinetic with Ubuntu 16.04.