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To debug the problem, I will probably start with:

  1. Check that the gazebo simulator is not paused. Sometimes happen.
  2. Check that the /cmd_vel topic is the one really in use by the gazebo plugin or the code that controls the motion of the robot. Sometimes the launch remmaping make it to use namespaces (i.e: /robot/cmd_vel).
  3. Check that the code that handles the motion is being called. You can use the help of the ROS log system or any other programming mechanism.