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I finally figured out the problem: it lies with the scripts in gazebo_ros/scripts. These call the setup.sh from Gazebo, which was overwriting the environment variables I had set in my .bashrc with default values.

By commenting out the relevant lines in _gazebo_ros/scripts/gazebo_ and remaking (for safety), _roslaunch gazebo_ros mars_world.launch_ works.

I finally figured out the problem: it lies with the scripts in gazebo_ros/scripts. These call the setup.sh from Gazebo, which was overwriting the environment variables I had set in my .bashrc with default values.

By commenting out the relevant lines in _gazebo_ros/scripts/gazebo_ and remaking building it again (for safety), _roslaunch gazebo_ros mars_world.launch_ works.