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The error was in the odometry sent to 'message_to_tf' node. Message_to_tf is meant to provide intermediate transforms between /base_link and /odom. Odom is my odometry without z value so it was moving, but base_link wasnt. Why? I was passing to 'message_to_tf' and odometry message identical to ground_truth published by Gazebo but with x,y position and rotation set to 0. The problem is that z rotation wasnt 0 so odom moved in yaw but base_link kept static.

So the answer is: In the following scenario (quadrotor flying), being /odom the odometry without z-value, the odometry message that we must pass to 'message_to_tf' to obtain intermediate transforms between /odom and /base_link (defined in the urdf file) must have only the z component of position and all the remain values to 0 (keeping quaternion normalized)