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You've already asked this on Gazebo's forum. Anyways,

but the motion is very slow.

I'm not sure which motion you talk about, but Planar Move plugin updates the velocity of the model in the physics engine level (code as of today) per every loop. My guess is that there's a conflict between this operation and Gazebo's physics computation.

Possibly you want to add changes within the same method I referred to (void GazeboRosPlanarMove::UpdateChild()).

Related issue: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/121

You've already asked this on Gazebo's forum. Anyways,

but the motion is very slow.

I'm not sure which motion you talk about, but Planar Move plugin updates the velocity of the model in the physics engine level (code as of today) per every loop. My guess is that there's a conflict between this operation and Gazebo's physics computation.

Possibly you want to add changes modify within the same method I referred to (void GazeboRosPlanarMove::UpdateChild()).), but I'm not sure what changes are sufficient for your case.

Related issue: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/121