My robot doesn't react to control commands

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Hi every one, I'm trying to have my model move through JointPositionController commands in Gazebo, but it won't. I'm using Kinetic/Gazebo7. The model (derived from ABB IRB2600 with dynamic items for Gazebo) seems to be loaded correctly (Gazebo/Rviz), I'm using rqt_gui to publish command topic, yet the model stands still, no movement. I guess I missed something in controllers' configuration, but I'm quite a beginner and I didn't find any problem yet. Would you please help me to detect what's wrong / missing ? Please attached find the rqt_graph of the simulation. Obviously I can't attach a zip archive of the model, but I may send it to any helper or expert. Thanks in advance ! C:\fakepath\rosgraph_abb_irb2600.png