I am trying to simulate omni/mecanum wheels in Gazebo and it seems the way to go is using the planar move plugin. I couldn't find any in depth tutorial (I recently started using ROS/Gazebo so I might need one) about how to accomplish this so can anybody point me in the right direction? I already have a working URDF model with Gazebo elements (self collision mainly).

I can use it in gazebo and play with the values of the joints and everything works fine. I tried to add the planar move plugin adding these lines (as instructed in the gazebo tutorial):

 <gazebo>
    <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryRate>20.0</odometryRate>
      <robotBaseFrame>${name_body}</robotBaseFrame>
    </plugin>   
 </gazebo>

That made the simulation run in slow-motion for some unkown reason. Does anybody have a clue why?