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One way to do this is to implement a custom Gazebo plugin. We've done that in the package diffdrive_gazebo_plugin. To use it, you'll have to add it to your URDF, like here. If you want to see it in action, you can use the kurt_empty_world.launch file to start it, and uos_diffdrive_teleop to send Twist commands.
Our plugin is for a six-wheeled robot, but modifying it for your four-wheeled robot shouldn't be too hard.
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