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The Pioneer3at model uses the SkidSteerPlugin, which is included with gazebo. I have the gazebo-current deb installed and I have the following files in my /usr folder:

$ find /usr | grep SkidSteer

You may not be able to find the plugins because they are not in a standard path location. There is a setup script for Gazebo that can help setup environment variables properly:

source /usr/share/gazebo/

Can you provide console error messages if this doesn't help?