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The answer wasn't the correct because I didn't apply a correct contact propierties of the wheel (friction coefficients, contact stiffnes and contact damping, explained here and here). When this was solved, the answer was the expected.

Although this, I only obtain correct responses when the duration time was -1 (infinite). When I set the duration_time or start_time to any positive valor (like 50) Gazebo worked as if it had been set to infinity.