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To expand - I also got around this by updating to a newer version of Gazebo (I'm running Kinetic on Ubuntu 16.04).

I followed the "Alternative Installation" instructions here (with an important exception noted below): http://gazebosim.org/tutorials?tut=install_ubuntu

IMPORTANT NOTE - if you're on Kinetic, you want to install "gazebo7" NOT "gazebo9" (which would be for Melodic)

Hope that helps - I spent many hours on Google figuring this out. But now the examples in Chapter 7 of Programming Robots with ROS run (as far as I've tried).

Cheers, /K

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