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In addition to the above answer, it'll be best if you install these packages:

ros-hydro-youbot-description
ros-hydro-youbot-driver
ros-hydro-youbot-driver-ros-interface ros-hydro-youbot-gazebo-robot ros-hydro-youbot-gazebo-worlds ros-hydro-youbot-simulation ros-hydro-youbot-gazebo-control

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