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Well, finally I found the problem. It was the missing dependency
ros-kinetic-gazebo-ros-control.
The problem was caused by my faulty but how could I be aware of this dependency? I performed the installation
sudo apt-get install ros-kinetic-desktop-full
as recommended and I followed the instructions from the Learn URDF Step by Step in which there is no mention of the dependency in question.
Maybe one could edit a little bit this tutorial to add this information. I will see if I can do it.