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There are existing plugins in gazebo/plugins dir. An example robot that makes use of it is pioneer2dx. You can download it from the model database through the insert tab on the left. If you look at the downloaded sdf file, ~/.gazebo/models/pioneer2dx/model.sdf, it uses the differential drive plugin provided by Gazebo.

Alternatively, you can control the robot through the joint control widget which you have to drag out through the bar on the right of the gazebo window