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rosaria can only communicate with either the Pioneer robot, or MobileSim which emulates the Pioneer robot. To use Gazebo, set up your launch configuration such that your client nodes connect to Gazebo's ROS interface rather than rosaria. Gazebo's libgazebo_ros_diff_drive plugin implements a differential drive controller with a similar ROS interface as rosaria (i.e. cmd_vel, odom topics, base_link, etc.). If you want to try the Gazebo and URDF configuration from https://github.com/MobileRobots/amr-ros-config and provide any feedback (via github or the ros-sig-pioneer mailing list), that would be very helpful for improving it.
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