gazebo : A 3D multiple robot simulator with dynamics. ( http://gazebosim.org" SRC_URI="${HOMEPAGE}/assets/distributions/${P}.tar.bz2 )
sdformat : XML format describing environments for robotic applications ( http://sdformat.org )
Add an ebuild in portage :
The ebuild is now in the portage tree.
You can also use layman : emerge layman then layman -a ros
For Paludis use this rsync : rsync://gentoo.zugaina.org/ros-portage
If you have a problem : ycarus(-at-)zugaina.org