In the link posted above, the OP solves the problem by adding objectClass: 
posixgroup to his groups.
In my case, they already are "posix-ified".

But, I finally made my sudorules to work by turning
use_fully_qualified_names = False.

Summary:
use_fully_qualified_names = True  + sudo 1.8.16-0ubuntu1   => OK
use_fully_qualified_names = True  + sudo 1.8.16-0ubuntu1.3 => NOK
use_fully_qualified_names = False + sudo 1.8.16-0ubuntu1.3 => OK

Remaining problems:
sudoUser=%#gid is not retrieved

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https://bugs.launchpad.net/bugs/1686544

Title:
  sudo fails to retrieve groups in sudoUser

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