I have been successfully using the erratic robot simulation in Gazebo (fuerte on ubuntu 12.04). I installed the erratic robot for simulation using:

sudo apt-get install ros-diamondback-fuerte-robot

After some updates were installed (including python-rospkg, ros-fuerte-pr2-controllers, and ros-fuerte-pr2-mechanism) using the ubuntu update manager, I have not been able to launch Gazebo with the erratic robot.

For example, the output of roslaunch erraticnavigationapps demo2dnavslam.launch (from [link text]http://www.ros.org/wiki/simulator_gazebo/Tutorials/TeleopErraticSimulation)) is:

scott@scott-ub:~$ roslaunch erratic_navigation_apps demo_2dnav_slam.launch
... logging to /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/roslaunch-scott-ub-14417.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://scott-ub:42921/

SUMMARY
========

PARAMETERS
 * /base_laser_self_filter/min_sensor_dist
 * /base_laser_self_filter/self_see_default_padding
 * /base_laser_self_filter/self_see_default_scale
 * /base_laser_self_filter/self_see_links
 * /base_laser_self_filter/sensor_frame
 * /base_shadow_filter/high_fidelity
 * /base_shadow_filter/scan_filter_chain
 * /base_shadow_filter/target_frame
 * /move_base_node/NavfnROS/allow_unknown
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/escape_vel
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/aggressive_clear/reset_distance
 * /move_base_node/clearing_radius
 * /move_base_node/conservative_clear/reset_distance
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/base_scan/sensor_frame
 * /move_base_node/global_costmap/base_scan/topic
 * /move_base_node/global_costmap/base_scan_marking/clearing
 * /move_base_node/global_costmap/base_scan_marking/data_type
 * /move_base_node/global_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/global_costmap/base_scan_marking/marking
 * /move_base_node/global_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/global_costmap/base_scan_marking/observation_persistence
 * /move_base_node/global_costmap/base_scan_marking/sensor_frame
 * /move_base_node/global_costmap/base_scan_marking/topic
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_cost_value
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/base_scan/sensor_frame
 * /move_base_node/local_costmap/base_scan/topic
 * /move_base_node/local_costmap/base_scan_marking/clearing
 * /move_base_node/local_costmap/base_scan_marking/data_type
 * /move_base_node/local_costmap/base_scan_marking/expected_update_rate
 * /move_base_node/local_costmap/base_scan_marking/marking
 * /move_base_node/local_costmap/base_scan_marking/max_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/min_obstacle_height
 * /move_base_node/local_costmap/base_scan_marking/observation_persistence
 * /move_base_node/local_costmap/base_scan_marking/sensor_frame
 * /move_base_node/local_costmap/base_scan_marking/topic
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/recovery_behaviors
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /slam_gmapping/angularUpdate
 * /slam_gmapping/astep
 * /slam_gmapping/base_frame
 * /slam_gmapping/delta
 * /slam_gmapping/iterations
 * /slam_gmapping/kernelSize
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/linearUpdate
 * /slam_gmapping/llsamplerange
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/lsigma
 * /slam_gmapping/lskip
 * /slam_gmapping/lstep
 * /slam_gmapping/map_update_interval
 * /slam_gmapping/maxUrange
 * /slam_gmapping/odom_frame
 * /slam_gmapping/ogain
 * /slam_gmapping/particles
 * /slam_gmapping/resampleThreshold
 * /slam_gmapping/sigma
 * /slam_gmapping/srr
 * /slam_gmapping/srt
 * /slam_gmapping/str
 * /slam_gmapping/stt
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/xmax
 * /slam_gmapping/xmin
 * /slam_gmapping/ymax
 * /slam_gmapping/ymin
 * /use_sim_time

NODES
  /move_base_node/local_costmap/
    voxel_grid_throttle (topic_tools/throttle)
  /
    base_laser_self_filter (robot_self_filter/self_filter)
    base_shadow_filter (laser_filters/scan_to_cloud_filter_chain)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    move_base_node (move_base/move_base)
    robot_state_publisher (robot_state_publisher/state_publisher)
    slam_gmapping (gmapping/slam_gmapping)
    spawn_robot (gazebo/spawn_model)
    voxel_visualizer (costmap_2d/costmap_2d_markers)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [14436]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c6d49662-5f32-11e2-aa2b-782bcbb7d7cd
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [14449]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo-2]: started with pid [14463]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[gazebo_gui-3]: started with pid [14470]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[spawn_robot-4]: started with pid [14482]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[robot_state_publisher-5]: started with pid [14513]
Msg Waiting for master.[ WARN] [1358268248.051425092]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_shadow_filter-6]: started with pid [14539]
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1358268248.080174488]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[base_laser_self_filter-7]: started with pid [14578]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[slam_gmapping-8]: started with pid [14608]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node/local_costmap/voxel_grid_throttle-9]: started with pid [14684]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[move_base_node-10]: started with pid [14719]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[voxel_visualizer-11]: started with pid [14748]
loading model xml from ros parameter
[INFO] [WallTime: 1358268248.449899] [0.000000] waiting for service /gazebo/spawn_urdf_model
[ INFO] [1358268248.472712820]: Subscribed to Topics: base_scan base_scan_marking
[ WARN] [1358268248.473579197]: multiple inconsistent <genTexCoord> exists due to fixed joint reduction, overwriting previous value [false] with [true].
[ INFO] [1358268248.481060846]: Requesting the map...

[ INFO] [1358268248.482030855]: Still waiting on map...


Msg Connected to gazebo master @ http://localhost:11345
Warning [parser.cc:348] Gazebo SDF has no gazebo element
Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE
On July 1st, 2012, this formate will no longer by supported
Convert your files using the gzsdf command line tool
You have been warned!

[ INFO] [1358268250.002014924]: Laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1358268250.002100757]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Dbg plugin parent sensor name: robot_description
[ INFO] [1358268250.002810018]: starting diffdrive plugin in ns: //
[ INFO] [1358268250.029062963]: p3d plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1358268250.029147508]: p3d plugin missing <rpyOffset>, defaults to 0s
Dbg plugin model name: robot_description
[ INFO] [1358268250.037069510]: starting gazebo_ros_controller_manager plugin in ns: /
[ INFO] [1358268250.037196088]: Callback thread id=0x7f1b7865f420
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 14463, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/worlds/wg_collada.world __name:=gazebo __log:=/home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2.log].
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/gazebo-2*.log
[spawn_robot-4] process has finished cleanly
log file: /home/scott/.ros/log/c6d49662-5f32-11e2-aa2b-782bcbb7d7cd/spawn_robot-4*.log

I'm not sure how much of the log files to post, but here is part of the master.log that contains an error (this error also occurs again later in the log file):

...
[rosmaster.master][INFO] 2013-01-15 11:44:10,003: +PUB [/base_scan/scan] /gazebo http://scott-ub:34652/
[rosmaster.master][ERROR] 2013-01-15 11:44:10,004: Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 161, in validated_f
    code, msg, val = f(*newArgs, **kwds)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/master_api.py", line 406, in searchParam
    search_key = self.param_server.search_param(caller_id, key)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosmaster/paramserver.py", line 116, in search_param
    raise ValueError("namespace must be global")
ValueError: namespace must be global

And this is the full text of the spawn_robot-4.log:

[rospy.client][INFO] 2013-01-15 11:44:08,337: init_node, name[/spawn_robot], pid[14482]
[xmlrpc][INFO] 2013-01-15 11:44:08,337: XML-RPC server binding to 0.0.0.0
[xmlrpc][INFO] 2013-01-15 11:44:08,338: Started XML-RPC server [http://scott-ub:45884/]
[rospy.init][INFO] 2013-01-15 11:44:08,338: ROS Slave URI: [http://scott-ub:45884/]
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:08,338: _ready: http://scott-ub:45884/
[rospy.registration][INFO] 2013-01-15 11:44:08,338: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2013-01-15 11:44:08,339: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2013-01-15 11:44:08,438: registered with master
[rospy.rosout][INFO] 2013-01-15 11:44:08,438: initializing /rosout core topic
[rospy.rosout][INFO] 2013-01-15 11:44:08,440: connected to core topic /rosout
[rospy.simtime][INFO] 2013-01-15 11:44:08,442: initializing /clock core topic
[rospy.simtime][INFO] 2013-01-15 11:44:08,445: connected to core topic /clock
[rosout][INFO] 2013-01-15 11:44:08,449: waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2013-01-15 11:44:08,453: topic[/clock] adding connection to [http://scott-ub:34652/], count 0
[rospy.internal][INFO] 2013-01-15 11:44:08,708: topic[/rosout] adding connection to [/rosout], count 0
[rospy.core][INFO] 2013-01-15 11:44:10,328: signal_shutdown [atexit]
[rospy.internal][WARNING] 2013-01-15 11:44:10,329: Unknown error initiating TCP/IP socket to scott-ub:32926 (http://scott-ub:34652/): Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 511, in connect
    self.socket.connect((dest_addr, dest_port))
  File "/usr/lib/python2.7/socket.py", line 224, in meth
    return getattr(self._sock,name)(*args)
error: [Errno 111] Connection refused

[rospy.internal][INFO] 2013-01-15 11:44:10,330: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2013-01-15 11:44:10,330: atexit

None of the other log files have errors in them. Thanks in advance for any suggestions.