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Ergh. You probably shouldn't be using trunk right now--trunk is now trying to be Fuerte-compatible, except a lot of stuff is not working yet.

That launch has been moved to the package manipulation_worlds, which now has a whole selection of interesting worlds for manipulating stuff in Gazebo in Electric: https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch/applications/manipulation_worlds pr2_table_object.launch is equivalent to the old pr2_manipulation_gazebo.launch.