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As far as I know the pr2 currently does not work with newer gazebo versions. This is caused by a lot of different issues for example

  • Transmission types not supported
  • changed plugin names
  • changed sdf syntax
  • unsupported joints
  • ...

I once looked into it and is a lot of stuff that would have to be fixed for that...

do you need pr2 or do you want to learn howto moveit in combination with gazebo?

btw moveit it self works quite good with pr2 and hydro(outside of simulation)! ;)