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at some point, simulator_gazebo stack will no longer contain a gazebo binary within it, instead, it will depend on gazebo as a system dependency. simulator_gazebo stack will contain just the plugins and tools for interfacing ROS with gazebo.

In latest groovy trunk, gazebo binary in simulator_gazebo has caught up-to-date with gazebo version 1.3, but with a minor difference, it still depends on parser_deprecated.cc library. The very last hurdle to cross before switching to system installed gazebo is to tic-toc out of the dependency on pre-gazebo-1.0 XML, requiring any existing urdf with old gazebo XML format to be converted to SDF 1.3+.