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Found one solution (not the best way, but it worked for me)
While installing gazebo_ros_pkgs on groovy (any distro that is non-hydro) if an error of the following form comes up during catkin_make :

/usr/include/gazebo-1.9/gazebo/physics/State.hh:26:22: fatal error: sdf/sdf.hh: No such file or directory
Note: the sdf/sdf.hh part may come up more than once.

Let the catkin_make fail, then navigate to

~/catkin_ws/build

You will find a file CMakeCache.txt open it in any editor and then use search to find all instances of

-I/usr/include/sdf-1.4 and /usr/include/sdf-1.4 in the file.

To these add(do not replace) another command that will include ;/usr/include/sdf-1.4/sdf so that it should look like

GAZEBO_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/gazebo-1.9;/usr/include/gazebo-1.9/gazebo;/usr/include/sdf-1.4;/usr/include/sdf-1.4/sdf and

GAZEBO_STATIC_CFLAGS:INTERNAL=-I/usr/include/gazebo-1.9;-I/usr/include/gazebo-1.9/gazebo;-I/usr/include/sdf-1.4;-I/usr/include/sdf-1.4/sdf

Do this for all instances.

Now go back to ~/catkin_ws and run catkin_make, it should build without errors.

Found one solution (not the best way, but it worked for me)
While installing gazebo_ros_pkgs on groovy (any distro that is non-hydro) if an error of the following form comes up during catkin_make :

/usr/include/gazebo-1.9/gazebo/physics/State.hh:26:22: fatal error: sdf/sdf.hh: No such file or directory
Note: the sdf/sdf.hh part may come up more than once.

Let the catkin_make fail, then navigate to

~/catkin_ws/build

You will find a file CMakeCache.txt open it in any editor and then use search to find all instances of

-I/usr/include/sdf-1.4 and /usr/include/sdf-1.4 in the file.

To these add(do not replace) another command that will include ;/usr/include/sdf-1.4/sdf (note the extra /sdf) so that it should look like

GAZEBO_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/gazebo-1.9;/usr/include/gazebo-1.9/gazebo;/usr/include/sdf-1.4;/usr/include/sdf-1.4/sdf and

GAZEBO_STATIC_CFLAGS:INTERNAL=-I/usr/include/gazebo-1.9;-I/usr/include/gazebo-1.9/gazebo;-I/usr/include/sdf-1.4;-I/usr/include/sdf-1.4/sdf

Do this for all instances.

Now go back to ~/catkin_ws and run catkin_make, it should build without errors.