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If you notice the box on the top right side of the tutorial, that tutorial applies to Gazebo 8, which has not been officially released yet. To use these features right now, you'd need to install the nightly builds, but beware they are unstable. Otherwise, you'll need to wait until the release on January 2017.

This should be clearer, many people miss the version box on the right. I'll add a big note in the beginning of the tutorial.