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The solution is to use Diamondback.

You are probably using CTurtle, right? I tried to reproduce your behaviour, and this is what I get, using CTurtle:

[ rosmake ] No package specified.  Building stack ['simulator_gazebo']          
[ rosmake ] Packages requested are: ['simulator_gazebo']                        
[ rosmake ] Logging to directory/home/martin/.ros/rosmake/rosmake_output-20110410-152750
[ rosmake ] Expanded args ['simulator_gazebo'] to:
['gazebo_plugins', 'gazebo_worlds', 'gazebo_tools', 'gazebo']
[ rosmake ] Checking rosdeps compliance for packages simulator_gazebo.  This may take a few seconds.
Failed to find stack for package [rosgraph_msgs]
Failed to load rosdep.yaml for package [rosgraph_msgs]:Cannot locate installation of package rosgraph_msgs: [rospack] couldn't find package [rosgraph_msgs]. ROS_ROOT[/opt/ros/cturtle/ros] ROS_PACKAGE_PATH[/home/martin/ros:/opt/ros/cturtle/stacks]
Failed to find rosdep mercurial for package gazebo_plugins on OS:ubuntu version:10.04
(...)
WARNING: Rosdeps [u'mercurial', u'mercurial', u'mercurial', u'mercurial'] could not be resolved

This tells us that there are two errors:

1. rospack cannot find the package rosgraph_msgs
2. rosdep cannot find a rosdep.yaml file that specifies the debian package name for the dependency "mercurial"

Both errors can be fixed by switching to Diamondback, since rosgraph_msgs is new in Diamondback, and "mercurial" is now defined in /opt/ros/diamondback/ros/rosdep.yaml. Don't worry, you can install Diamondback and CTurtle side-by-side. Just install Diamondback and run the following:

source /opt/ros/diamondback/setup.zsh
rosmake --rosdep-install

The solution is to use Diamondback.

You are probably using CTurtle, right? I tried to reproduce your behaviour, and this is what I get, using CTurtle:

[ rosmake ] No package specified.  Building stack ['simulator_gazebo']          
[ rosmake ] Packages requested are: ['simulator_gazebo']                        
[ rosmake ] Logging to directory/home/martin/.ros/rosmake/rosmake_output-20110410-152750
[ rosmake ] Expanded args ['simulator_gazebo'] to:
['gazebo_plugins', 'gazebo_worlds', 'gazebo_tools', 'gazebo']
[ rosmake ] Checking rosdeps compliance for packages simulator_gazebo.  This may take a few seconds.
Failed to find stack for package [rosgraph_msgs]
Failed to load rosdep.yaml for package [rosgraph_msgs]:Cannot locate installation of package rosgraph_msgs: [rospack] couldn't find package [rosgraph_msgs]. ROS_ROOT[/opt/ros/cturtle/ros] ROS_PACKAGE_PATH[/home/martin/ros:/opt/ros/cturtle/stacks]
Failed to find rosdep mercurial for package gazebo_plugins on OS:ubuntu version:10.04
(...)
WARNING: Rosdeps [u'mercurial', u'mercurial', u'mercurial', u'mercurial'] could not be resolved

This tells us that there are two errors:

1. rospack cannot find the package rosgraph_msgs
2. rosdep cannot find a rosdep.yaml file that specifies the debian package name for the dependency "mercurial"

Both errors can be fixed by switching to Diamondback, since rosgraph_msgs is new in Diamondback, and "mercurial" is now defined in /opt/ros/diamondback/ros/rosdep.yaml. Don't worry, you can install Diamondback and CTurtle side-by-side. Just install Diamondback and run the following:

source /opt/ros/diamondback/setup.zsh
/opt/ros/diamondback/setup.bash   # if running bash

or

source /opt/ros/diamondback/setup.zsh    # if running zsh

and then:

roscd simulator_gazebo
rosmake --rosdep-install