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It would be much more elegant to simulate the wheels with pure contact, rather than a plugin fakeout, but I suspect it would also be slower. The whole accuracy vs. computational time trade-off.

I have seen the issues posted before, but I've never found the time to really try making mecanum wheels in sdf; sounds like fun, though.

One issue that might come up is that the rollers are a bit tapered, not true cylinders. If gazebo supported ellipsoids, this might be a good application, not sure.

Do you have any data on the angles used and part sizes? I can try to help with hacking on something to see if it works well or not.