Grasping: solving problems introduced when migrating to Gazebo5

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Hey all! Following this Gazebo answer, I have migrated to Gazebo5, but a bunch of new issues have come:

• The robot base (a TurtleBot2) is unable to move, as the motor wheels don't make any traction to my understating). Worse, they somehow enter within the robot making this to roll.
• Colors doesn't work as with Gazebo 2. I have tried all possible configurations I could imagine and all failed.
• The arm moves herraticaly, shacking while trying to catch and object.
• Though I had realistic inertia values for most robot components, the arm turns to be now very "heavy" compared to the base.

All this will be much clearer when watching this video (I hope!). You can compare with grasping on Gazebo 2 on this previous video.

The problem is that I can hardly find documentation and examples for Gazebo5. Can anyone point me through mobile robots already simulated on Gazebo5?

Thank you a lot!

UPDATE In Gazebo4 seems to work pretty well!