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The debian package is called ros-fuerte-pr2-mechanism. But I guess it is installed already because pr2_gazebo_plugins which is needed by pr2_gazebo depends on it.

The problem probably is that your controller configuration is wrong. I guess the tutorial you are relying on is outdated. Try changing the controller type to robot_mechanism_controllers/JTCartesianController.

Btw. please have a look at the support page and follow the guidelines. It would have been good if you pasted the complete launch file and the complete error output.

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