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Operating PR2 in Gazebo 1.9 and Ros Groovy

I've been trying to vain to spawn and control a PR2 in Gazebo 1.9. I've tried Hydro and and Groovy but have had the most success with Groovy. I'm following these instructions to spawn a PR2 from xacro:

Among the many errors I am recieving is this one: Error [] CameraPlugin requires a CameraSensor. Msg It is a depth camera sensor

Anyone have this working or have an idea when a working version will be available?

Thanks in advance