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If I am not wrong, you need to implement a gazebo plugin that basically converts the velocity commands of the keyboard teleop to gazebo joint torques or speeds. For that purpose, I would recommend to have a look at:

http://www.ros.org/wiki/gazebo_plugins

You will find some gazebo plugins available. I think that GazeboRosDiffdrive is specially interesting for you. It implements a gazebo plugin for a differential robot. You would have to do something similar but for a car-like steering model.

Finally, to add Gazebo extensions to urdf files (where I guess you have modeled your robot), have a look at:

http://www.ros.org/wiki/urdf/Tutorials/UnderstandingPR2URDFGazeboExtension

I hope this helps.