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I found some robots like Robotino and TurtleBot (http://wiki.ros.org/Robots/TurtleBot). But someone says that they can't be properly launched in Gazebo. I don't know it's truthness. Again, for Robotino, lots of packages are mentioned here, but how to install it on ubuntu 10.04 (ROS fuerte is present)?

Socket communication is present in Gazebo-Ros.