I'm trying to follow the tutorial found here but when I try to make it, it returns a huge page of errors based around the version of protoc I have.

I have also tried this newer version of the tutorial.

Here is a snapshot:

In file included from /usr/include/gazebo-1.9/gazebo/msgs/MessageTypes.hh:91:0,
                 from /usr/include/gazebo-1.9/gazebo/msgs/msgs.hh:24,
                 from /usr/include/gazebo-1.9/gazebo/physics/Entity.hh:28,
                 from /usr/include/gazebo-1.9/gazebo/physics/Model.hh:32,
                 from /home/thesis/gazebo_animate_pose/animate_pose.cc:4:
/usr/include/gazebo-1.9/gazebo/msgs/wrench_stamped.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
/usr/include/gazebo-1.9/gazebo/msgs/wrench_stamped.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
/usr/include/gazebo-1.9/gazebo/msgs/wrench_stamped.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
make[2]: *** [CMakeFiles/animate_pose.dir/animate_pose.cc.o] Error 1
make[1]: *** [CMakeFiles/animate_pose.dir/all] Error 2
make: *** [all] Error 2