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Turns out that the real problem is loading a model from within gazebo (i.e Insert-->Clearpath Husky) that contains a ROS plugin inside of the model.sdf in the ~/.gazebo/models/(your model). Since after the release of Hydro, Gazebo and ROS are installed as two separate things from each other. Therefore, If you try to "insert" a model when gazebo is already opened, it will give you the error that i received above because you are not running the main component that links gazebo and ROS (since they are independent of eachtoher), "rosGazeboApi".
From my basic understanding and figuring this out, you need to launch your gazebo model from within a ROS launch file using the "spawn_model" node and passing the description of your gazebo model (the .sdf file) as a parameter to spawn_model, which is what solves my problem, IN HYDRO, but since it is the same error, i think it should work in indigo as well. This fix should work across all platforms.
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