Simulating the hello_world_demo (youbot API) in Gazebo

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Hello,

I want to simulate the hello-world-demo in gazebo (http://www.youbot-store.com/youbot-developers/software/apps-and-utils/hello-world-youbot-api) to take this as a template for my own cpp-projects for moving the arm of the youbot to different positions.

The hello-world-demo works fine on our real youbot. But to test my own .cpp projects in advance, I want to simulate the projects with gazebo at first.

So far, regarding the simulation of the youbot in gazebo, I can launch .py files, e.g. by

$rosrun youbotdriverrosinterface youbotkeyboard_teleop.py

...or publish topics to get robot moving.

But how can I get the hello-world-demo (based on the KUKA youbot API) working in Gazebo?

Best wishes, Lena

(ROS Hydro, Ubuntu 12.04, Gazebo 1.9.5)