gazebo_ros
gazebo_msgs
gazebo_plugins
gazebo_tests
gazebo_worlds
gazebo_tools
gazebo_ros_api_plugin
gazebo_ros_paths_plugin

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

roscore &
rosrun gazebo_ros gazebo

<launch>
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="worlds/mud.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>
</launch>

<sdf version="1.4">
    <world name="default">
      <include>
        <uri>model://sun</uri>
      </include>
      <include>
        <uri>model://ground_plane</uri>
      </include>
      <include>
        <uri>model://double_pendulum_with_base</uri>
        <name>pendulum_thick_mud</name>
        <pose>-2.0 0 0 0 0 0</pose>
      </include>
      ...
    </world>
  </sdf>

rosrun gazebo_ros spawn_model -file `rospack find MYROBOT_description`/urdf/MYROBOT.urdf -urdf -x 0 -y 0 -z 1 -model MYROBOT
rosrun gazebo_ros spawn_model -file `rospack find baxter_description`/urdf/baxter.urdf -urdf -z 1 -model baxter

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find baxter_description)/urdf/baxter.urdf -urdf -z 1 -model baxter" />

<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find pr2_description)/robots/pr2.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model pr2" />

<export>
  <gazebo_ros gazebo_model_path="${prefix}/models"/>
  <gazebo_ros gazebo_media_path="${prefix}/models"/>
</export>

<gazebo>
  <plugin name="differential_drive_controller" filename="libdiffdrive_plugin.so">
    ... plugin parameters ...
  </plugin>
</gazebo>

<model name="your_robot_model">
  <plugin name="differential_drive_controller" filename="libdiffdrive_plugin.so">
    ... plugin parameters ...
  </plugin>
</model>

<gazebo reference="your_link_name">
  <plugin name="your_link_laser_controller" filename="libgazebo_ros_laser.so">
    ... plugin parameters ...
  </plugin>
</gazebo>