need help with creating my first gazebo plugin

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Hello.

my intention is to control and move a simple robot within the gazebo simulation. i already created the robot model with a urdf file and now i want to move it around. as i understand, the best way to do that, is to create a plugin. i tried to follow step by step the instructions on :

http://ros.org/wiki/simulator_gazebo/Tutorials/GazeboPluginIntro

but when i type "rosmake" I get an error :

/home/daniel/ros_workspace/gazebo_tutorials/src/simple_world_plugin.cpp:1:20: fatal error: gazebo.h: No such file or directory compilation terminated.

I tried to update ROS by typing "sudo apt-get install ros-fuerte-desktop-full" but still, the problem remains.

I am using ROS Fuerte with Ubuntu 12.04.

Is anyone can suggest a better tutorial, or a way to overcome this problem? Thanks.