How to run hector_ugv in gazebo?

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HI, I am interested in the dual ackermann steering model similar to that of the hector_ugv. Before attempting to write a model from scratch, I would like to check if there is any existing package that I can use to run in gazebo. I did find some information here: https://code.google.com/p/tu-darmstad...

I was able to spawn the robot, but have no clue on how to control it. The all wheel drive plugin in particular is missing. The Ackermann group does focus on single ackermann steering. Unfortunately I need to navigate a long robot in tight spaces, hence a dual steering is inevitable.