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Player-Gazebo Connection Issues

I'm currently running Gazebo 2.2.3, and I have Player 3.1.0. Right now, I'm trying to get a simple program working. I have the the .cfg and .world files here. I launch the .world file first, then the .cfg, then the executable that was created by compiling and liking the C file. However, I'm getting the following message:

[libprotobuf ERROR google/protobuf/message_lite.cc:123] Can't parse message of type "gazebo.msgs.Pose_V" because it is missing required fields: pose[0].position, pose[0].orientation

I'm assuming something in Gazebo is incompatible with position2d. What can I do to remedy this, and are there any more tutorials on how to connect Player and Gazebo?