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Possible Problems:

  • Gazebo is paused
    solution: Un-pause Gazebo. "simulated time is active" means that ROS Time is slaved to simulation.
  • Your C++ ROS Node is not publishing to /pkg_robot/joint1_position_controller/command
    solution: Confirm that your C++ ROS Node is in fact written to publish to /pkg_robot/joint1_position_controller/command
  • Your C++ ROS Node is otherwise not doing what your expect
    solution 1: Check your C++ ROS Node (maybe consult http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29)
    solution 2: Update your question here with your C++ ROS Node (formatted)

Aside, how do you intend subscribe to this /pkg_robot/joint1_position_controller/command ROS Topic on the Gazebo side?