ROS - Decouple PX4 and Gazebo communication system

Hello! I want to select which messages PX4 sends to Gazebo (actuators) and which messages Gazebo sends to PX4 (sensors). So I need to decouple the PX4 and Gazebo systems on SITL since when I run the command make px4_sitl gazebo, it establishes the Flight Stack and Gazebo’s communications automatically. Can I use the MAVROS node to change communications between those two or does it work just for offboard control (communications between the flight stack and the companion computer) ?

You can use Gazebo with MAVROS. See here