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Well here's a solution (although it's not perfect): I ditched the ros_control idea, and now the simple robot uses the libgazebo_ros_diff_drive.so plugin. I can spawn it near the UR5, and I can move it around, but the problem is that my robot is not a differential wheeled robot, so a linear.x=1 won't move it forward, but in circles. But luckily that was my goal (for now...)

I don't know if the floating joint idea works or not. Yes, it throws a warn about changing it to a fixed, but in reality it will move like it has a floating joint (except if you want to move it by hand with the gazebo interface, it will count as one model).

Hope it helps.