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An answer here http://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/ leads to http://gazebosim.org/tutorials?tut=ros_gzplugins#SkidSteeringDrive - you want to use the skid steering plugin rather than have gazebo do a 'raw' simulation of four wheels. Spinning wheels don't work that well in simulation, the various plugins get around that.