ROS2 and Gazebo fuel with ML model

I believe that there are a few of ROS2 tutorials in the internet, but most of them are pretty much the same. Like talking about how to create a pub-sub link and communicate with ROS2 terminals. But most of them are like this and maybe one simulation with MoveIt. However, I believe that if we can get/find a tutorial in which they have used the Gazebo fuel models and you know try to control them by the ROS2 , as in not using moveit but like adding an ML model or just hard coded code , then I guess some of us beginners will have a better time to understand how we can apply this in the real world scenarios. Yes the basics are really important, but at the same time since i'm new to this domain, I need help on a simulation like this and am still trying to figure out how each piece comes to place.

Thanks a lot for replying to this comment or better thanks for taking your time to read this ^ ^.
Have a great day .