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It is a Gazebo 5 problem as pointed out in the comments of the original post. I solved it installing the latest Gazebo4 version.

It is a Gazebo 5 problem as pointed out in the comments of the original post. I solved it installing the latest Gazebo4 version.

EDIT: And I finally found the reason!! https://bitbucket.org/osrf/gazebo/pull-request/1218/change-behavior-of-odejoint-setvelocity/diff

Point 14 in Gazebo 5.0.0: https://bitbucket.org/osrf/gazebo/src/default/Changelog.md

The behaviour of the SetMaxForce functions changed, therefore Kobuki plugin is deprecated. The solution (but I am not sure if this is a workaround or proper solution) is something like: https://github.com/mayfieldrobotics/kobuki_desktop/commit/4246c6e4330f39725df3eb39a0b77a7fcc6185b1

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