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Gazebo requires an internet connection in order to download model files (such as the sun and ground plane for the default world). If you don't internet access the first time you run gazebo, it will give this error. One option is to manually download model files from gazebosim.org/models and put them in your ~/.gazebo/models folder. Another option is to clone to the https://bitbucket.org/osrf/gazebo_models repository and place its location in the GAZEBO_MODEL_PATH environment variable. Let me know if this works for you.