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Hey! I used this two tutorials of the pr2 and they helped me a lot. Check them out. Hope it helps you:
http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot
http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20base%20controller%20with%20odometry%20and%20transform%20information
Good luck. I'm also stuck with making a sad car just to move in gazebo so I understand your pain XD.