Is the PR2 simulation under ROS Groovy with Gazebo 1.5 supposed to work? Or do you need to update the whole PR2 to sdf (and possibly fix other stuff)? I am trying to simulate the PR2 with Moveit. If I load a PR2 from the gui it works but then the controllers are not loaded.

Gazebo multi-robot simulator, version 1.5.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.5.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[pr2_mechanism_diagnostics-6]: started with pid [29058]
Warning [parser.cc:361] Converting a deprecated SDF source[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world].
Set SDF value
  Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Msg Waiting for master
[ INFO] [1380197556.034175293]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 145.94.196.92
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 145.94.196.92
process[fake_joint_calibration-7]: started with pid [29097]
loading model xml from ros parameter
INFO] [WallTime: 1380197556.609971] [0.000000] waiting for service /gazebo/spawn_urdf_model
process[wide_stereo/wide_stereo_proc-8]: started with pid [29112]
process[narrow_stereo/narrow_stereo_proc-9]: started with pid [29146]
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
process[narrow_stereo_textured/narrow_stereo_textured_proc-10]: started with pid [29245]
process[left_image_raw_relay-11]: started with pid [29332]
[ INFO] [1380197559.146970297]: joint trajectory plugin missing <updateRate>, defaults to 0.0 (as fast as possible)
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
process[right_image_raw_relay-12]: started with pid [29523]
process[left_camera_info_relay-13]: started with pid [29644]
process[right_camera_info_relay-14]: started with pid [29803]
process[r_forearm_cam/image_proc-15]: started with pid [29932]
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/ar_arm"
Error [InsertModelWidget.cc:252] model.config file is missing in directory["/home/lennart/.gazebo/models/checkerboard"]
Warning [InsertModelWidget.cc:228] Invalid filename or directory["/home/lennart/.gazebo/models/checkerboard.model"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO_MODEL_PATH because the file structure may be modified by Gazebo.
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/create"
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/kinect"
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/my_robot"
process[l_forearm_cam/image_proc-16]: started with pid [30074]
process[diag_agg-17]: started with pid [30204]
process[pr2_dashboard_aggregator-18]: started with pid [30398]
process[robot_pose_ekf-19]: started with pid [30601]
process[base_hokuyo_node-20]: started with pid [30854]
process[tilt_hokuyo_node-21]: started with pid [31087]
process[tf2_buffer_server-22]: started with pid [31261]