Finally, I solved the problem! I didn't made the right order with the transformations. I share my code, if someone will need it in the future.
gluLookAt(x, 1.0f, z,
x + lx, 1.0f, z + lz,
0.0f, 1.0f, 0.0f);
glPushMatrix();
glTranslatef(x + lx, -0.5f, z + lz);
glRotatef(-angle* 57.2957795, 0.0f, 1.0f, 0.0f);
glTranslatef(0.0f, 0.0f, 5.0f); // offset
drawCube(2);
glPopMatrix();