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The problem was found in the move_group.launch I had a state publisher which published the initial state of the robot in lack of the fake_controller.

This should not be in the launch file:

<node pkg="tf" type="static_transform_publisher" name="odom_broadcaster" args="0 0 0 0 0 0 odom_combined base_footprint 100" /> 
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 <param name="/use_gui" value="false"/>