Fixed some bugs encountered when attempting to

roslaunch testbot_gazebo testbot_gazebo.launch

but still not working yet.  Current error is:

[ERROR] [1384774745.237610026, 0.406000000]: This robot has a joint named "joint_1" which is not in the gazebo model.
[FATAL] [1384774745.237833810, 0.406000000]: Could not initialize robot simulation interface

Also seeing this warning:

[ INFO] [1384774745.224143962, 0.406000000]: pluginlib WARNING: In file /tmp/buildd/ros-hydro-gazebo-ros-control-2.3.3-0raring-20131024-0611/src/default_robot_hw_sim.cpp PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros.  Base = base_class_type, Derived = derived_class_type
Ifed out the unnecessary visual elements, but still getting the 'not in the gazebo model' error
Made own world file, still haven't fixed 'not in the gazebo model' error.
Put robot_description into namespace