Installation of gazebo_ros_pkgs

From Pre-Built Debians:

For ROS Kinetic

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

Gazebo 8 and ROS kinetic (preferred)

remove all Gazebo and ros binaries:

sudo apt-get remove --purge '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*'
sudo apt-get remove ros-*
sudo apt-get purge ros-*
sudo apt autoremove

install dependencies:

sudo apt-get update
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt-get install -y wget
sudo apt-get install -y lsb-release
sudo apt-get install -y sudo
sudo apt-get install -y mesa-utils
sudo apt-get clean

Get gazebo and ROS binaries:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-kinetic-ros-base
sudo apt-get install -y gazebo8
sudo apt-get install -y ros-kinetic-gazebo8-ros-pkgs
sudo apt-get install -y ros-kinetic-fake-localization
sudo apt-get install -y ros-kinetic-joy
sudo apt-get install -y ros-kinetic-robot-state-publisher
sudo apt-get install -y ros-kinetic-rviz
sudo apt-get clean
sudo apt autoremove

Other packages (I am currently using…updated):

sudo apt install rosbash
sudo apt-get install ros-kinetic-ros-core
sudo apt-get install ros-kinetic-turtlesim
sudo apt-get install ros-kinetic-xacro
sudo apt install ros-kinetic-teleop-twist-keyboard
sudo apt install ros-kinetic-velodyne-description
sudo apt install ros-kinetic-controller-manager
sudo apt install ros-kinetic-joint-state-controller
sudo apt install ros-kinetic-rqt-gui
sudo apt install ros-kinetic-effort-controllers
sudo apt install ros-kinetic-pcl-ros
sudo apt install ros-kinetic-pointcloud-to-laserscan

http://wiki.ros.org/velo2cam_gazebo

Initialize rosdep:

sudo rosdep init
rosdep update

From Source

After installing ROS from source with the Desktop Install you will also need to put the following packages into the /ros_catkin_ws/src folder:

git clone https://github.com/ros-simulation/gazebo_ros_pkgs -b kinetic-devel
git clone https://github.com/ros-perception/image_common -b hydro-devel
git clone https://github.com/ros-controls/control_toolbox -b kinetic-devel
git clone https://github.com/ros-controls/ros_control -b kinetic-devel
git clone https://github.com/ros-controls/realtime_tools -b kinetic-devel

Then rebuild the workspace:

./src/catkin/bin/catkin_make_isolated --install

To test installation, run:

roscore &
rosrun gazebo_ros gazebo