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I suggest you to take a look at this tutorial :

http://gazebosim.org/tutorials?tut=set_velocity#SetVelocityInstantaneously

Maybe you will have to play with some parameters of your link like the friction to make it enable to keep some velocity.

http://sdformat.org/spec?ver=1.6&elem=collision

Take a look at the surface tag which contains friction parameters.

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