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brew install gazebo works fine for me (save for linking), but I have this diff going on:

$git diff ^HEAD
diff --git a/gazebo.rb b/gazebo.rb
index 684db0a..27ef576 100644
--- a/gazebo.rb
+++ b/gazebo.rb
@@ -13,7 +13,7 @@ class Gazebo < Formula
   depends_on "freeimage"
   depends_on "libtar"
   depends_on "ogre"
-  depends_on "osrf/simulation/protobuf"
+  depends_on "protobuf"
   depends_on "protobuf-c"
   depends_on "qt"
   depends_on "sdformat"

Maybe that'll help. Worthwhile to note the latest version of gazebo is gazebo6.