When you use xpath then 95% of the times when people have trouble its often due to namespaces. Your SOAP message is defined using a namespace - "http://ws.madcomum.comprova.com". The xpath expression must use this namespace to make it work.
See more details at: http://camel.apache.org/xpath, there is an example at the section Using XML configuration
Also as you use CXF in MESSAGE mode, then read about stream caching as the message is stream based: http://camel.apache.org/stream-caching.html