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You would have to modify the source code of the diffdrive controller (better to make a new plugin yourself and use diffdrive as a base).

It shouldn't be much work, you'd just need to obviously add the rear wheels to the plugin and apply the velocity the same way as it is applied to the front wheels.

If you're not familiar on how to make your own plugin then I suggest you read this tutorial: http://gazebosim.org/tutorials/?tut=plugins_hello_world

Good luck!