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Assuming you are using ROS alongside gazebo, you will want to add a drivetrain plugin to your URDF or SDF model. If you look at this link scroll down and you will see either Differential Drive or Skid Steering Drive. You can just copy and paste the code into your URDF (if its SDF then dont include the <gazebo> tags) and specify the respective joints of your robot.
This ROS-Gazebo plugin will then basically act as a node that subscribes to a "/cmd_vel" topic, and you can install the package "ros-indigo-key-teleop" (assuming your on indigo) to be able to use your keyboard to send a command velocity.
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