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Does libgazebo_ros_controller_manager.so show up when you

ls `rospack find pr2_gazebo_plugins`/lib

?

Does If libgazebo_ros_controller_manager.so show up when youdoes not exist in

ls `rospack find pr2_gazebo_plugins`/lib

?then you need to compile the plugins:

rosmake pr2_gazebo_plugins

Alternatively, if you installed from deb, do

sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install --reinstall ros-fuerte-pr2-simulator

If libgazebo_ros_controller_manager.so does not exist in

ls `rospack find pr2_gazebo_plugins`/lib

then you need to compile the plugins:

rosmake pr2_gazebo_plugins

Alternatively, if you installed from deb, do

sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install --reinstall ros-fuerte-pr2-simulator


If the debian installed version runs correctly, you might want to remove your local copy of pr2_simulator path from ROS_PACKAGE_PATH.

Is there a reason you want to check out pr2_simulator locally and compile from source?