I think the errors are due to a version problem and a missing file problem, but I'm not sure about the version problem because I have only used the kinetic version of ROS. First, change the types to gzserver and gzclient respectively. Second, there is no empty.world file in the "$(find cvg_sim_gazebo)/worlds/empty.world" directory. Maybe, the developers accidentally erased it. Anyway, args="worlds/empty.world" works if you have sourced the gazebo_ros directory. The version below works for me, you can delete the commented previous version. <?xml version="1.0"?> <launch> <param name="/use_sim_time" value="true" /> <!-- <node name="empty_world_server" pkg="gazebo_ros" type="gazebo" args="$(find cvg_sim_gazebo)/worlds/empty.world" respawn="false" output="screen">