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Here is the setup.sh that we use for the DRC simulator project. It creates the paths between ROS and Gazebo. Note that this file is parsed used cmake to produce the final result. https://bitbucket.org/osrf/drcsim/src/d4266379422bececc55afaaae2cbe961f66486e0/cmake/setup.sh.in?at=default

I've also added a ticket to bitbucket