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After speak with Steve, Nate and the rest of the team, we have released the ROS Wrappers for Gazebo5. Only for ROS Indigo. I've created a pull request to update the tutorial.

  # if you have the packages.osrfoundation.org repository:  
  sudo apt-get install ros-indigo-gazebo5-ros-pkgs

ROS Jade will bring support out-of-the-box for gazebo5 and gazebo_ros_pkgs.