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I also corrected the URDF. The base link was set to 0.2m in height, and I believe it should rather be 2m.
When trying to load the joint state controller, one gets an exception because of name conflict. That has to do with the current duplication/renaming from joint_state_controller to joint_state_broadcaster. I've also addressed this.

@olivier-stasse I hope you don't mind, but I kind of took over your PR and fixed up a bunch of things to make Gazebo actually work.

Dear @Karsten1987 not at all, thanks for fixing this and all the rest.
I hope you found #64 useful, let me know when you want me to close it.

I guess you could close your PR already, all your initial commits are still here on this PR. Would be great to have this merged at some point to have some Gazebo support upstream.

@destogl do you mind having a look at this?

@Karsten1987 please mind what you have on a branch, this happened to have the contents of #89 as well which normally wouldn't be an issue but given that changes weren't cherry-picked to Olivier's branch but merged into, I couldn't just remove them by rebasing, had to opt for adding another magic blob merge commit to fix things.

Managed to fix my gazebo setup (I think, although it's now shaky, see gif) and tested this.

Merging...