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Applying body wrenches will help you to achieve rotation, but linear motion is much more difficult.

Here's what I would do:

• Create a fake link at some position on the ground.

• Connect your model to the fake link using 3 prismatic joints and 3 revolute joints, one for each axis.

• Write a Gazebo controller to subscribe to cmd_vel messages and move your model accordingly.

• Use a keyboard teleop node to publish cmd_vel messages to the controller.

I actually don't think I've seen anything like this done yet. It seems like it would be useful for quadrotors and other flying objects. I think that I might go ahead and see if I can come up with a nice, generic package for this.