Actor odometry using gazebo_ros_p3d

Hi, I am trying to get Actor odometry info using a gazebo_ros_p3d plugin. Plugin is inserted into .world file like so, and launched in gazebo with roslaunch: actortrue100.0Spineactor_01_odometry_spine0.01map0 0 00 0 0 When I echo the topic I get right position but speed (twist) revolves around zero, as shown here: --- header: seq: 24979 stamp: secs: 475 nsecs: 959000000 frame_id: "map" child_frame_id: "Spine" pose: pose: position: x: -3.82574642252 y: 0.589185419343 z: 0.495070912116 orientation: x: -0.784613931053 y: -0.00635248099696 z: -0.101631091917 w: 0.611564997641 covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001] twist: twist: linear: x: 0.0137931422544 y: 0.00601130576374 z: 0.0267578801175 angular: x: -0.0189035052545 y: 0.00271631246327 z: 0.00557373148548 covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001] How do I get correct speed? I am using Kinetic with Gazebo 8 on Ubuntu 16.04.