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Teleop in Gazebo through ROS

I already have a 4 wheeled vehicle model as well as several environments I can put the vehicle in. I am using ROS Indigo along with Gazebo 2.22 in Ubuntu Trusty. Right now, I'm trying to create a keyboard teleop program for the vehicle in question through ROS. Can some one provide some pointers on how to do so? Thank you very much. If the anyone believe that this question is more appropriate for the ROS answers page, please comment. I will gladly delete this question.