Moving wheeled robot in gazebo using ros

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I'm pretty much new to this, I want to simulate my wheeled robot in gazebo

I have imported my robot model from solidworks using SW2URDF now i have two launch file one for rviz and another for gazebo, when i launch these two file my robot is spawned in rviz and gazebo, I can only rotate wheels using joint_state_publisher Gui I want to move it using my keyboard, How to do it?

I have very little knowledge about gazebo plugins I cannot use any of the drive plugins like diff drive or skid steering, because my robots drive is totally differtent anyone please help me out.

Thanks!