I am follwoing the tutorial: http://wiki.ros.org/pr2_simulator/Tutorials/BasicPR2Controls#PR2_Navigation_Stack_Demo I run the command: rosrun gazebo spawn_model -urdf -file drawer.urdf -model drawer1 -x 1.0 I take the error: [rospack] Error: stack/package gazebo not found

In http://wiki.ros.org/gazebo we are informed that package gazebo is replaced with 3 gazeborospkgs: gazebomsgs | gazeboplugins | gazebo_ros. So, my question is how I spawn the drawer.urdf model to gazebo?