PosePublisher Plugin unexpected behaviour

Help
, ,
1

Good afternoon to everyone. I have the following problem:
I’m running a simulation with one turtlebot that is able to move simple objects in a rectangular arena. Both the arena and the objects are defined in sdf format.
This is the code for the objects:

<?xml version="1.0" ?>
 <sdf version="1.9">

	<model name ="object">
		
		
		<link name="link_object">

			<visual name="visual_object">					
				<geometry>
					<cylinder>
						<radius>.1</radius>
						<length>0.08</length>
					</cylinder>
				</geometry>
				<material>
					<diffuse>1 1 0 1</diffuse>
				</material>
			</visual>

			<collision name="collision_object">
				<geometry>
					<cylinder>
						<radius>.1</radius>
						<length>0.08</length>
					</cylinder>
				</geometry>

				<surface>
					<friction>
						<ode>
							<mu>0.05</mu>
						</ode>
					</friction>
				</surface>

			</collision>

		</link>
	</model>
	

</sdf>`

And this is the code to build the arena:

<?xml version="1.0" ?>
<sdf version="1.9">
	<world name="arena">

	<scene>
		<ambient>1 1 1 1</ambient>
		<grid>0</grid>
	</scene>


	<physics type="ode">
		<max_step_size>0.003</max_step_size>
		<real_time_factor>1.0</real_time_factor>
	</physics>


	<gazebo>
		<plugin file_name="libignition-gazebo-contact-system.so" name="ignition::gazebo::systems::Contact"/>
	</gazebo>
	<gazebo>
		<plugin file_name="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
			<render_engine>ogre</render_engine>
		</plugin>
	</gazebo>

	<plugin name='ignition::gazebo::systems::Physics' filename='libignition-gazebo-physics-system.so'/>
		<plugin name='ignition::gazebo::systems::UserCommands' filename='libignition-gazebo-user-commands-system.so'/>
		<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='libignition-gazebo-scene-broadcaster-system.so'/>

  		<plugin filename="libignition-gazebo-contact-system.so" name="ignition::gazebo::systems::Contact"></plugin>

  		<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
    		<render_engine>ogre</render_engine>
  	</plugin>



	<light type="point" name="point_light1">
		<intensity>1</intensity>
		<pose>0 -0.6 1.5 0 0 0</pose>
		<diffuse>1 1 0 1</diffuse>
		<specular>.1 .1 .1 1</specular>
		<attenuation>
		  <range>4</range>
		  <linear>1</linear>
		  <constant>0.8</constant>
		  <quadratic>0</quadratic>
		</attenuation>
		<cast_shadows>false</cast_shadows>
	</light>

	<light type="point" name="point_light2">
		<intensity>1</intensity>
		<pose>1.5 -0.6 1.5 0 0 0</pose>
		<diffuse>1 1 0 1</diffuse>
		<specular>.1 .1 .1 1</specular>
		<attenuation>
		  <range>4</range>
		  <linear>1</linear>
		  <constant>0.8</constant>
		  <quadratic>0</quadratic>
		</attenuation>
		<cast_shadows>false</cast_shadows>
	</light>


	<light type="point" name="point_light3">
		<intensity>1</intensity>
		<pose>-1.5 -0.6 1.5 0 0 0</pose>
		<diffuse>1 1 0 1</diffuse>
		<specular>.1 .1 .1 1</specular>
		<attenuation>
		  <range>4</range>
		  <linear>1</linear>
		  <constant>0.8</constant>
		  <quadratic>0</quadratic>
		</attenuation>
		<cast_shadows>false</cast_shadows>
	</light>


	<include>
		<uri>ground.sdf</uri>
	</include>
	<include>
		<uri>walls.sdf</uri>
	</include>
	
	<model name="objects">


		<!-- include objects-->

		<include>
			<uri>object.sdf</uri>
			<name>object1</name>
			<pose>0.4 0.1 1 0 0 0</pose>
		</include>
		
		<include>
			<uri>object.sdf</uri>
			<name>object2</name>
			<pose>-0.4 0.8 1 0 0 0</pose>
		</include>

		<include>
			<uri>object.sdf</uri>
			<name>object3</name>
			<pose>1.3 0.8 1 0 0 0</pose>
		</include>

		<include>
			<uri>object.sdf</uri>
			<name>object4</name>
			<pose>-1.3 0.8 1 0 0 0</pose>
		</include>

		<plugin filename="libignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
			<publish_link_pose>false</publish_link_pose>
			<publish_model_pose>false</publish_model_pose>
			<publish_nested_model_pose>false</publish_nested_model_pose>
			<use_pose_vector_msg>true</use_pose_vector_msg>
		</plugin>

	</model>


</world>

The problem that I’m facing is that when I try to push an object with the turtlbot the pose on the corresponding topic is updated with the right value only for the objects 2,3,4. If I move the object 1 the values of all the other objects are being updated, except the pose for the object 1.
I think there must be a problem on the PosePublisher plugin but I don’t understand what I’m doing wrong.

Thanks in advance for your help.