how to install mpc local planner for four wheel steering robot ?

[ppvvss]

I recently referenced four wheel steering robot simulation:
https://www.youtube.com/watch?v=4_bftUbQTaM&t=91s

I want to try to apply mpc local planner to a 4-wheel steering robot and observe the effect of path planning, but,the examples are all for differential or car-like robots , not 4-wheel steering robot.

What should I do to make it work with 4 wheel steer vehicle configuration?？Does anyone know how to do this？