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I had a similar problem with my robot. When i moved to Gazebo 7 it started to behave really strange. I posted my Question here: http://answers.gazebosim.org/question/17281/problems-with-model-simulation-behaves-like-there-is-moon-gravity-solved/ and later i found a solution. There was a problem with the controller nodes and ros-plugins. If you load any ros-plugins, the problem might be there.