Vehicle_torque_setpoint and vehicle_thrust_setpoint with mavros

Hello, I am trying to control the quadrotor UAV using my custom controller, which can calculate the desired thrust and torque values. I have edited the PX4 firmware and loaded it into the hardware so that the PX4 subscribes to vehicle_torque_setpoint and vehicle_thrust_setpoint uORB topics. (as explained here: Offboard Mode | PX4 User Guide)

I have my controller written in mavros environment in the companion computer, however, there is no direct topic in mavros to publish to these two topics. I am wondering how to make mavros publish to the vehicle_torque_setpoint and vehicle_thrust_setpoint on PX4 hardware.