diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml
index 726a51ceb2..6fe3ebc806 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml
@@ -228,7 +228,7 @@
       <shortcut
             class="edu.wpi.first.wpilib.plugins.cpp.launching.SimulateLaunchShortcut"
             description="Test the WPILib project using the Gazebo simulator."
-            icon="resources/icons/wpi.ico"
+            icon="resources/icons/Gazebo.png"
             id="edu.wpi.first.wpilib.plugins.cpp.launching.simulate"
             label="WPILib C++ Simulation"
             modes="run,debug">
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/icons/Gazebo.png b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/icons/Gazebo.png
new file mode 100644
index 0000000000..3ad1d74440
Binary files /dev/null and b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/icons/Gazebo.png differ
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
index a09f3aa141..b476b133fb 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
@@ -28,6 +28,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.549514425" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 							        <option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
 								  <listOptionValue builtIn="false" value="$cpp-location/include"/>
 							        </option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
@@ -38,7 +39,9 @@
 									<listOptionValue builtIn="false" value="$cpp-location/lib"/>
 								</option>
 								<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibAthena"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="HALAthena"/>
 									<listOptionValue builtIn="false" value="NetworkTables"/>
 									<listOptionValue builtIn="false" value="FRC_NetworkCommunication"/>
@@ -167,7 +170,9 @@
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.66697269" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
 							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
 								<option id="gnu.cpp.link.option.libs.1563598353" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibSim"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="gazebo"/>
 									<listOptionValue builtIn="false" value="gazebo_transport"/>
 									<listOptionValue builtIn="false" value="gazebo_msgs"/>
diff --git a/simulation/debs/Makefile b/simulation/debs/Makefile
index 0ee5f02d99..e526d7bf14 100644
--- a/simulation/debs/Makefile
+++ b/simulation/debs/Makefile
@@ -4,9 +4,9 @@ allwpilib=../..
 package-version = 1
 gazebo-plugins-version = 0.2
 gazebo-plugins-package-version = $(gazebo-plugins-version)-$(package-version)
-gazebo-models-version = 0.2
+gazebo-models-version = 0.3
 gazebo-models-package-version = $(gazebo-models-version)-$(package-version)
-gazebo-models-orig-url = https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1052?dl=1
+gazebo-models-orig-url = https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1070?dl=1
 eclipse-plugins-version = 0.1
 eclipse-plugins-package-version = $(eclipse-plugins-version)-$(package-version)
 eclipse-toolchain-version = 0.1
diff --git a/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog b/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog
index c9e0040054..618ea80006 100644
--- a/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog
+++ b/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog
@@ -1,3 +1,9 @@
+frcsim-gazebo-models (0.3-1) trusty; urgency=medium
+
+  * Fixed GearsBot gyro
+
+ -- Alex Henning <alex@thoriumrobotics.com>  Tue, 12 Aug 2014 09:32:27 -0400
+
 frcsim-gazebo-models (0.2-1) trusty; urgency=medium
 
   * New models using the smaller plugins
diff --git a/simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/pom.xml b/simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/pom.xml
index d7b0c220f3..292aac560e 100644
--- a/simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/pom.xml
+++ b/simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/pom.xml
@@ -24,6 +24,7 @@
                 <mkdir dir="${project.build.directory}/sim-includes/sim/include"/>
                 <copy todir="${project.build.directory}/sim-includes/sim/include">
                   <fileset dir="include"/>
+                  <fileset dir="../wpilibC++/include"/>
                   <fileset dir="../../networktables/cpp/include"/>
                   <fileset dir="../../hal/include"/>
                 </copy>
diff --git a/wpilibc/wpilibC++Sim/Makefile b/wpilibc/wpilibC++Sim/Makefile
index 34200d408d..f698aee000 100644
--- a/wpilibc/wpilibC++Sim/Makefile
+++ b/wpilibc/wpilibC++Sim/Makefile
@@ -14,3 +14,4 @@ clean:
 install: all
 	mkdir -p $(DESTDIR)$(lib.dir)
 	install $(build.dir)/libWPILibSim.so $(DESTDIR)$(lib.dir)
+	install $(build.dir)/build/wpilibC++/libWPILib.a $(DESTDIR)$(lib.dir)
diff --git a/wpilibc/wpilibC++Sim/pom.xml b/wpilibc/wpilibC++Sim/pom.xml
index d7b0c220f3..292aac560e 100644
--- a/wpilibc/wpilibC++Sim/pom.xml
+++ b/wpilibc/wpilibC++Sim/pom.xml
@@ -24,6 +24,7 @@
                 <mkdir dir="${project.build.directory}/sim-includes/sim/include"/>
                 <copy todir="${project.build.directory}/sim-includes/sim/include">
                   <fileset dir="include"/>
+                  <fileset dir="../wpilibC++/include"/>
                   <fileset dir="../../networktables/cpp/include"/>
                   <fileset dir="../../hal/include"/>
                 </copy>
diff --git a/wpilibc/wpilibC++Sim/src/Error.cpp b/wpilibc/wpilibC++Sim/src/Error.cpp
deleted file mode 100644
index cf05a89f15..0000000000
--- a/wpilibc/wpilibC++Sim/src/Error.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "Error.h"
-
-#include <cstdio>
-#include <cstring>
-
-#include "Timer.h"
-#include "Utility.h"
-
-bool Error::m_suspendOnErrorEnabled = false;
-
-Error::Error()
-	: m_code(0)
-	, m_lineNumber(0)
-	, m_originatingObject(NULL)
-	, m_timestamp (0.0)
-{}
-
-Error::~Error()
-{}
-
-void Error::Clone(Error &error)
-{
-	m_code = error.m_code;
-	m_message = error.m_message;
-	m_filename = error.m_filename;
-	m_function = error.m_function;
-	m_lineNumber = error.m_lineNumber;
-	m_originatingObject = error.m_originatingObject;
-	m_timestamp = error.m_timestamp;
-}
-
-Error::Code Error::GetCode() const
-{	return m_code;  }
-
-const char * Error::GetMessage() const
-{	return m_message.c_str();  }
-
-const char * Error::GetFilename() const
-{	return m_filename.c_str();  }
-
-const char * Error::GetFunction() const
-{	return m_function.c_str();  }
-
-uint32_t Error::GetLineNumber() const
-{	return m_lineNumber;  }
-
-const ErrorBase* Error::GetOriginatingObject() const
-{	return m_originatingObject;  }
-
-double Error::GetTime() const
-{	return m_timestamp;  }
-
-void Error::Set(Code code, const char* contextMessage, const char* filename, const char* function, uint32_t lineNumber, const ErrorBase* originatingObject)
-{
-	m_code = code;
-	m_message = contextMessage;
-	m_filename = filename;
-	m_function = function;
-	m_lineNumber = lineNumber;
-	m_originatingObject = originatingObject;
-	m_timestamp = GetTime();
-
-	Report();
-
-	// XXX: BROKEN! if (m_suspendOnErrorEnabled) suspendTask(0);
-}
-
-void Error::Report()
-{
-	// Error string buffers
-	char *error = new char[256];
-	char *error_with_code = new char[256];
-
-	// Build error strings
-	if (m_code != -1)
-	{
-		snprintf(error, 256, "%s: status = %d (0x%08X) %s ...in %s() in %s at line %d\n",
-				m_code < 0 ? "ERROR" : "WARNING", (int32_t)m_code, (uint32_t)m_code, m_message.c_str(),
-				m_function.c_str(), m_filename.c_str(), m_lineNumber);
-		sprintf(error_with_code,"<Code>%d %s", (int32_t)m_code, error);
-	} else {
-		snprintf(error, 256, "ERROR: %s ...in %s() in %s at line %d\n", m_message.c_str(),
-				m_function.c_str(), m_filename.c_str(), m_lineNumber);
-		strcpy(error_with_code, error);
-	}
-	// TODO: Add logging to disk
-
-	delete [] error_with_code;
-
-	// Print to console
-	printf("\n\n>>>>%s", error);
-
-	delete [] error;
-
-    // printf("-----------<Stack Trace>----------------\n");
-    // printCurrentStackTrace();
-}
-
-void Error::Clear()
-{
-	m_code = 0;
-	m_message = "";
-	m_filename = "";
-	m_function = "";
-	m_lineNumber = 0;
-	m_originatingObject = NULL;
-	m_timestamp = 0.0;
-}
-
diff --git a/wpilibc/wpilibC++Sim/src/Utility.cpp b/wpilibc/wpilibC++Sim/src/Utility.cpp
index b881de1622..c565221bec 100644
--- a/wpilibc/wpilibC++Sim/src/Utility.cpp
+++ b/wpilibc/wpilibC++Sim/src/Utility.cpp
@@ -11,6 +11,14 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <iostream>
+#include <sstream>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <execinfo.h>
+#include <cxxabi.h>
+
 static bool stackTraceEnabled = false;
 static bool suspendOnAssertEnabled = false;
 
@@ -162,3 +170,57 @@ uint32_t GetFPGATime()
 	return wpilib::internal::simTime * 1e6;
 }
 
+
+/**
+ * Demangle a C++ symbol, used for printing stack traces.
+ */
+static std::string demangle(char const *mangledSymbol)
+{
+	char buffer[256];
+	size_t length;
+	int status;
+
+	if(sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer))
+	{
+		char *symbol = abi::__cxa_demangle(buffer, NULL, &length, &status);
+
+		if(status == 0)
+		{
+			return symbol;
+		}
+		else
+		{
+			// If the symbol couldn't be demangled, it's probably a C function,
+			// so just return it as-is.
+			return buffer;
+		}
+	}
+
+	// If everything else failed, just return the mangled symbol
+	return mangledSymbol;
+}
+
+/**
+ * Get a stack trace, ignoring the first "offset" symbols.
+ */
+std::string GetStackTrace(uint32_t offset)
+{
+	void *stackTrace[128];
+	int stackSize = backtrace(stackTrace, 128);
+	char **mangledSymbols = backtrace_symbols(stackTrace, stackSize);
+	std::stringstream trace;
+
+	for(int i = offset; i < stackSize; i++)
+	{
+		// Only print recursive functions once in a row.
+		if(i == 0 ||stackTrace[i] != stackTrace[i - 1])
+		{
+			trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
+		}
+	}
+
+	free(mangledSymbols);
+
+	return trace.str();
+}
+
diff --git a/wpilibc/wpilibC++Sim/src/simulation/SimGyro.cpp b/wpilibc/wpilibC++Sim/src/simulation/SimGyro.cpp
index e6d125a620..c173c05b35 100644
--- a/wpilibc/wpilibC++Sim/src/simulation/SimGyro.cpp
+++ b/wpilibc/wpilibC++Sim/src/simulation/SimGyro.cpp
@@ -10,9 +10,11 @@ SimGyro::SimGyro(std::string topic) {
     velSub = MainNode::Subscribe("~/simulator/"+topic+"/velocity",
                                  &SimGyro::velocityCallback, this);
 
-    commandPub->WaitForConnection();
-    
-    std::cout << "Initialized ~/simulator/"+topic << std::endl;
+    if (commandPub->WaitForConnection(gazebo::common::Time(5.0))) { // Wait up to five seconds.
+		std::cout << "Initialized ~/simulator/" + topic << std::endl;
+	} else {
+		std::cerr << "Failed to initialize ~/simulator/" + topic + ": does the gyro exist?" << std::endl;
+	}
 }
 
 void SimGyro::Reset() {