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I found the problem, i will answer my question in case it helps someone.

I had wrong pid values in the config.yaml. I had followed the tutorials on gazebo_ros_control correctly but i noticed that the robot span out of control when i launched the simulation so i zeroed the values of i and d.

I ended up using velocity controllers so the pid wasn't even needed in the first place. Moral of the story, don't put random values to your pid's.