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If you are using ROS you might want to look how the Control is done for the PR2, Hector or other robots. You can find the sources for them in the ROS-WIKI.

You should also think about using the new gazebo version(1.9) because their are some new plugins for that version. You could than simply use a control_plugin and ros topics to control your robot. You should take a look at the 1.9 tutorials for that!