Robot doesn't move in Gazebo

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I'm trying to move my robot in Gazebo but when I publish the cmd_vel the robot doesn't move, should I add some plugin to gazebo? Or it's needed some control code in order to move the joints? I've searched some guides but I didn't find anything to solve my problem.

I also noticed that in the urdf file there is this plugin:

 <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/</robotNamespace>
    </plugin>
    <plugin filename="libgazebo_ros_force_based_move.so" name="object_controller">
      <robotNamespace>/</robotNamespace>
      <commandTopic>/movo/cmd_vel</commandTopic>
      <odometryTopic>/movo/odometry/wheel_odometry</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryRate>100.0</odometryRate>
      <cmdVelTimeOut>0.2</cmdVelTimeOut>
      <robotBaseFrame>base_link</robotBaseFrame>
      <publishOdometryTf>0</publishOdometryTf>
      <yaw_velocity_p_gain>500.0</yaw_velocity_p_gain>
      <x_velocity_p_gain>10000.0</x_velocity_p_gain>
      <y_velocity_p_gain>10000.0</y_velocity_p_gain>
    </plugin>
    <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d">
      <bodyName>base_link</bodyName>
      <topicName>ground_truth_odom</topicName>
      <alwaysOn>true</alwaysOn>
      <updateRate>100.0</updateRate>
    </plugin>  
  </gazebo>

which has the /movo/cmd_vel topic, but I also tried to create a publisher called like that and robot doesn't move as well. I can't show all the urdf cause it's too long