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The tutorial you linked says that the robot (sdf) is provided of a model plugin that subscribes to the topic, and plays back the the velocities. Here is the source of the plugin https://bitbucket.org/osrf/drcsim/src/4dd60578a573/plugins/ros/gazebo_ros_joint_trajectory.cpp?at=default

Now, you have to be sure that you are writing/reading the same topic. Is such plugin contained in the sdf the Nao robot you are using?