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Recently I faced the same issue and I'd like to add a small note here:

Though gazebo can be launched with just typing gazebo in the terminal, this will not work. Because it only starts the GUI and not the services.

Whereas staring gazebo using roslaunch gazebo_ros willowgarage_world.launch takes care of the required services.

Another way to launch is roslaunch gazebo_ros gazebo if you do not want to include a world or a launch file.

Hope this helps!