Plugin Controller For Omni 3-Wheeled robot to do navigation

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Hi, i want to build my omni 3 wheeled robot for doing navigation.

In the navigation stack, there is commonly controlled by using command /cmd_vel. But in my robot urdf, i just using

    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotNamespace>/robot</robotNamespace>
    </plugin>

with : <hardwareinterface>hardware_interface/VelocityJointInterface</hardwareinterface>

The output is just command the data for each motor. not conversion x y z as like as cmd_vel.

I just read about this plugin: <plugin name="omni_steering" filename="libgazebo_ros_planar_move.so"> it produces to cmd_vel. I've tried using this plugin, but there is weird movement. Like the pictures.

Can you recommend me about the plugin controller for these robot to do navigation? is it just using libgazebo_ros_control or libgazebo_ros_planar_move ?