[BradAMiller]

We aren't officially supporting the addition of your own models to Gazebo. There is a plugin that was developed last summer supported by SolidWorks and OSRF and we will continue to work on it with the hope of making it available in the fall. The idea is that the model can be annotated with the sensor and actuator information for your robot, and the plugin exports the model with that information in URDF format that can be imported into Gazebo. Then a plugin for Gazebo allows the simulator edition of WPILib to talk to simulated model. Look for a beta in the spring or early summer that you can start playing with.