Origin of revolute joints don't move in Gazebo11

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Hi,

Can someone help me please?

My URDF file have three revolute joints (rudder_joint, sail_joint, tail_joint) with origin defined:

<robot xmlns:xacro="http://ros.org/wiki/xacro" name="sailboat">

<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="scale" value="1"/>

<!--_______________________-->
<!--________ HULL _________-->
<!--_______________________-->
<link name="sailboat/base_link">
    <visual>
        <origin xyz="-0.79 0 0.26" rpy="0 0 0" />
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/hull_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/hull_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
    </visual>

    <collision name="collision">
        <origin xyz="-0.79 0 0.26" rpy="0 0 0"/>
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/hull_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
    </collision>

    <!-- Mass is calculated based on an estimate of draft, the effective length and the cross-section of
    a circle segment. The value for the draft is consistent specifications of similar vessels.  Moments of inertia are based on an effective cylindrical model-->
    <inertial>
        <mass value="184.04"/>
        <inertia ixx="5.99" ixy="0.0" ixz="0.0" iyy="230.06" iyz="0.0" izz="235.86"/>
        <origin xyz="-0.79 0 0.26" rpy="0 0 0"/>
    </inertial>
</link>


<!--_______________________-->
<!--_______ RUDDER ________-->
<!--_______________________-->
<link name="sailboat/rudder_link">
    <visual name="visual">
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/leme_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/leme_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <collision name="collision">
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/leme_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>

    <inertial>
        <mass value="1.39" />
        <inertia ixx="0.03" ixy="0.0" iyy="0.03" ixz="0.0" iyz="0.0" izz="0.01" />
        <!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </inertial>
</link>

<joint name="sailboat/rudder_joint" type="revolute">
    <parent link="sailboat/base_link"/>
    <child link="sailboat/rudder_link"/>
    <origin xyz="-1.57 0 -0.21" rpy="0 0 0"/>
    <dynamics damping="1.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" velocity="5" lower="-${PI/2}" upper="${PI/2}" />
</joint>


<!--_______________________-->
<!--________ KEEL _________-->
<!--_______________________-->
<link name="sailboat/keel_link">
    <visual name="visual">
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/keel_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/keel_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="0.54 0 -0.91" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <collision name="collision">
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/keel_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="0.54 0 -0.91" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>

    <inertial>
        <mass value="211.39" />
        <inertia ixx="34.28" ixy="0.0" iyy="44.11" ixz="0.0 ...