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I have solved this problem.! Frist : you should check your gazebo_ros is installed or not. just 'roscd gazebo_ros' or 'rospack list'.if not,you can install it by type 'sudo apt-get install ros-<distrib>-gazebo-ros' ; you can also sudo apt-get install ros-<distrib>-gazebo-* Then: source /opt/ros/<distrib>/setup.bash fanal : you can use roscore && rosrun gazebo_ros gazebo or roslaunch gazebo_ros emply_world.launch

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