interface Gazebo and ROS.

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(YOURROBOT_gazebo_plugins)

find_package(catkin REQUIRED COMPONENTS
  gazebo_ros
)

# Depend on system install of Gazebo
find_package(gazebo REQUIRED)

include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS})

# Build whatever you need here
add_library(...) # TODO

catkin_package(
    DEPENDS
      gazebo_ros
    CATKIN_DEPENDS
    INCLUDE_DIRS
    LIBRARIES
)

package.xml

<build_depend>gazebo_ros</build_depend>
<run_depend>gazebo_ros</run_depend>

interface Gazebo and ROS.

原文：http://blog.csdn.net/dxuehui/article/details/46591781