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Hi Benjamin,
1) We have investigated this issue a lot and are not able to replicate your problem even when we switch back to Groovy. Can you please post a gist link of your full build error of gazebo_ros_pkgs by running in your workspace catkin_make VERBOSE=1?
2) Right now gazebo-prerelease and sdformat are the the names of Gazebo 1.9 until they are out of Beta
3) It looks like you are mixing your installation paths up... that error output you posted references both /usr/local/include and /usr/include/ - make sure you fully uninstall Gazebo then try installing it again to just one location.
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