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Have a look at this link to an article on my blog, it should help you.

http://mobotica.blogspot.com/2011/09/using-gazebo.html

Have a look at this link to an article on my blog, it should help you.

http://mobotica.blogspot.com/2011/09/using-gazebo.html

As an alternative you can also use

roscore

and then

rosrun gazebo gazebo /path/to/world file

Have a look at this link to an article on my blog, it should help you.

http://mobotica.blogspot.com/2011/09/using-gazebo.html

As an alternative you can also use

roscore

and then

rosrun gazebo gazebo /path/to/world /path/to/.world file

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