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It looks like these packages are not publicly available?

http://answers.gazebosim.org/question/6964/baxter-gazebo-control-libbaxter_gazebo_roscontrolso/

It looks like these packages are not publicly available?

http://answers.gazebosim.org/question/6964/baxter-gazebo-control-libbaxter_gazebo_roscontrolso/

To test gazebo alone, I would try spawning an empty world using the gazebo_ros package.

roslaunch gazebo_ros empty_world.launch

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