Hello Jakkala,
we added thruster plugins and lift and drag plugins into the package GitHub - uuvsimulator/uuv_simulator: Gazebo/ROS packages for underwater robotics simulation. There are a number of ROVs and AUVs we already simulate in Gazebo for the Eu-Project SWARMs. We actually also have a small simulation scenario with an ROV that uses the BlueRobotics thruster. If you want to try it out and need any help, you can contact us on GitHub.
Best,
Musa