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I'm afraid that currently (July 2016) Debian Jessie is not a supported distribution by the general OSRF released packages although we try to feed Debian Sid with the latest released packages using the official Debian repositories and procedures.

As an exception, you can find in the OSRF repository the version 7 of Gazebo since ROS Kinetic supported Debian Jessie for the first time. I did not test it but something like the following instructions should work:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/debian-stable jessie main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install libgazebo7-dev gazebo7