teb_local_planner with skid_steer_drive car-like robot

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Hi guys,i need some help when i use teb_local_planner, my robot is a four wheel car and I set the base_link at the middle of the robot. And the skid_steer_drive_controller was chosed to drive my robot. So, how can I use the teb_local_planner with my robot. I see the teb_local_planner_tutorial has the car-like model with footprinttype:Line and Two Circles. But I don't know weather the two types are applicable to my robot.