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Hey there, talking about Gazebo, I am not quite sure since they separated from ROS and went onto building their own sim I think it would be pretty hard. However, depending on your application you could just use RVIZ inside your own gui window, for my application I found out that that was more suitable, maybe it helps you. You can read more here: http://docs.ros.org/indigo/api/librviz_tutorial/html/index.html