Connect pixhawk 2 with gazebo mavros

hello,
I am using ros kinetic, mavros (ubuntu) and i am able to connect mavros with pixhawk 2 and able to get gps location.
I am installed gazebo fallowing this https://dev.px4.io/en/simulation/ros_interface.html, when i launch gazebo empyt file it does work. But i don’t know how to connect gazeboo with pixhawk 2 ?