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Send directly PWM value to FCU through Mavros

In future, I need to test my advanced controller on ROV so I want to send PWM values which direct to ESCs through FCU from Mavros. Mavros have actuator_control topic but when I run apm.launch it hasn’t appear anytime. So I think I have to create a Mode in Ardusub firmware and write something in GCS_mavlink.
Could you tell me the right way to meet my demand?
Thanks alot and have a good day.