ROS Kinetic, Gazebo 7.0, Ubuntu 16.04

We have a custom designed mobile platform with 2 differential drive wheels, 4 caster wheels, and 6 DOF arm on top of that base. After running the launch file, gazebo is loaded without any errors, saying that all required plugins and controllers were loaded, all topics are published. When I send manual Twist to base or Position to arm, nothing moves. Although there is a constant slight drift in mobile base position (probably due to wrongly specified friction parameters). I'll provide snippets from various files I am using.
In robot urdf file I have things like this: Wheel joint

  <joint name="Cassis_Left_wheel" type="continuous">
    <parent link="Cassis"/>
    <child link="Left_wheel"/>
    <origin rpy="3.14159 0 1.57079" xyz="-3.84092 4.53357 0.0975"/>
    <axis xyz="1 0 0"/>
    <limit effort="1.0" lower="0.0" upper="0.0" velocity="0.0"/>
  </joint>

Arm joint

  <joint name="Cassis_M_link1" type="revolute">
    <parent link="Cassis"/>
    <child link="M_link1"/>
    <origin rpy="3.14159 0 1.57079" xyz="-3.41592 4.16774 0.93378"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.0" lower="-3.14" upper="3.14" velocity="0.0"/>
  </joint>

Wheel transmission

  <transmission name="Cassis_Left_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="Cassis_Left_wheel">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_left">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

Arm joint transmission

  <transmission name="Cassis_M_link1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="Cassis_M_link1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="base_motor">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

Gazebo control plugin

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <!-- <robotNamespace>/telega</robotNamespace> -->
    </plugin>
  </gazebo>

My launch file is this

<launch>
    <!-- Load the Telega sdf model into parameter server -->
    <param name="robot_description" textfile="$(find telega_description)/sdf/Mobile_platform.urdf" />
    <rosparam command="load" file="$(find telega_pkg)/src/robot_parameters.yaml" />
    <!-- Turn on joint state publisher gui control -->
    <param name="use_gui" value="True" />

    <!-- Start Gazebo with an empty world -->
    <!-- Defines Rviz custom config file for telega -->
    <arg name="rvizconfig" default="$(find telega_pkg)/src/telega.rviz" />
    <include file="$(find gazebo_ros)/launch/empty_world.launch" />

    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" 
          args="joint_state_controller
                arm_base_position_controller
                sholder_position_controller
                elbow_position_controller
                wrist1_position_controller
                wrist2_position_controller
                wrist3_position_controller
                mobile_base_controller"
    />

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

    <!-- Spawn a Telega in Gazebo, taking the description from the parameter server -->
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
          args="-param robot_description -urdf -model Mobile_platform" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

And finally my robot_parameters.yaml file

joint_state_controller:
  type: "joint_state_controller/JointStateController"
  publish_rate: 50  

arm_base_position_controller:
  type: "position_controllers/JointPositionController"
  joint: "Cassis_M_link1" 
  pid: {p: 100.0, i: 0.01, d: 10.0}

sholder_position_controller:
  type: "position_controllers/JointPositionController"
  joint: "M_link1_M_link2"
  pid: {p: 100.0, i: 0.01, d: 10.0}

elbow_position_controller:
  type: "position_controllers/JointPositionController"
  joint: "M_link2_M_link3"
  pid: {p: 100.0, i: 0.01, d: 10.0}

wrist1_position_controller:
  type: "position_controllers/JointPositionController"
  joint: "M_link3_M_link4"
  pid: {p: 100.0, i: 0.01, d: 10.0}

wrist2_position_controller:
  type: "position_controllers/JointPositionController"
  joint: "M_link4_M_link5"
  pid: {p: 100.0, i: 0.01, d: 10.0}

wrist3_position_controller:
  type: "position_controllers/JointPositionController"
  joint: "M_link5_M_link6_Gripper"
  pid: {p: 100.0, i: 0.01, d: 10.0}

mobile_base_controller:
  type        : "diff_drive_controller/DiffDriveController"
  left_wheel  : 'Cassis_Left_wheel'
  right_wheel : 'Cassis_Right_wheel'
  publish_rate: 50.0               # default: 50
  pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

  # Wheel separation and diameter. These are both optional.
  # diff_drive_controller will attempt to read either one or both from the
  # URDF if not specified as a parameter
  wheel_separation : 0.730
  wheel_radius : 0.19

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.0 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.25

  # Base frame_id
  base_frame_id: Cassis #default: Cassis

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 1.0  # m/s
      min_velocity           : -0.5 # m/s
      has_acceleration_limits: true
      max_acceleration       : 0.8  # m/s^2
      min_acceleration       : -0.4 # m/s^2
      has_jerk_limits        : true
      max_jerk               : 5.0  # m/s^3
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 1.7  # rad/s
      has_acceleration_limits: true
      max_acceleration       : 1.5  # rad/s^2
      has_jerk_limits        : true
      max_jerk               : 2.5  # rad/s^3

So, when I send Twist to /mobilebasecontroller/cmdvel, or Float to /armbasepositioncontroller/command, model in Gazebo doesn't move at all. Do I need to load some additional gazebo plugins into urdf file? Or maybe it's just incorrect friction or PID parameters?

Second problem is that there is no tf transformation for those 4 passive caster wheels, although they are defined as continuous. That manifests in their displacement in Rviz.

Any ideas?