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ROS used to pull in a specific version of Gazebo. ROS has since stopped this practice, and now uses the normal standalone version of Gazebo. All this means is that ROS uses the system install of Gazebo, and documentation about Gazebo on ros.org is outdated.

Gazebo is still fully compatible with ROS, see here.

If you want robot control, you'll need to use software like Player or ROS.