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I've not been able to use the gazebo_ros_pkgs package from the debs due to this kind of messages. I finally remove the deb version to install the source one from GitHub. Some additional packages will be also required.

From your src folder in the catkin folder:

git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git
git clone https://github.com/ros-controls/ros_control.git
git clone https://github.com/ros-controls/ros_controllers.git
git clone https://github.com/ros-controls/control_toolbox.git
git clone https://github.com/ros-controls/realtime_tools.git
cd ..
catkin_make

The install procedure is not fully stabilized yet.