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Hi @MarkusHHN,

Unfortunately, the covariance implementation in that plugin is hard coded, so there is no way to change that.

As I see, you have here two possible solutions:

1. Naive approach: You generate a node that subscribes to the odometry from that plugin and change the message covariance values then publish in a new topic and in your control nodes read from this new odometry. This is not a good approach in my honest opinion, but hey, it is there, just for you to know.
2. Implement your own plugin: That will allow you to have control over the covariance values. The libgazebo_ros_planar_move is a model plugin, you can implement your own model plugin which can be based on the implementation of the libgazebo_ros_planar_move. This way you will not only have control over the covarriance values but you will be able to implement things like gaussian error, etc.