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You could also try the gazebo_ros_force_based_move plugin. It is similar to the planar move plugin, but applies forces and torques to the body of the robot, not bypassing the physics engine. I previously observed issues with the planar move plugin and a manipulator arm mounted on a robot (arm wobbling around the z-axis when robot rotates). This doesn't happen with the force-based plugin. Here's a example video of using it for a simulated tracked robot.