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I have already installed gazebo5 and ROS indigo and works well. Here is what I have done: 1. If you want to use gazebo5 instead, you should first remove gazebo2.0 in indigo. 2. Install gazebo5 from the official website. 3. install ros-indigo-gazebo5-ros-pkgs and ros-indigo-gazebo5-ros-control

sudo apt-get install ros-indigo-gazebo5-ros-pkgs ros-indigo-gazebo5-ros-control

therefore gazebo5 can connect to ROS.

Hope it helps.