diff --git a/CMakeLists.txt b/CMakeLists.txt
index a2d47b2158..ff6b50406a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,27 +5,9 @@ include(CheckCXXCompilerFlag)
 include (FindPkgConfig)
 include(GNUInstallDirs)
 
-#copied from GazeboUtils.cmake
-macro (APPEND_TO_CACHED_STRING _string _cacheDesc)
-  FOREACH (newItem ${ARGN})
-    SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
-  ENDFOREACH (newItem ${ARGN})
-endmacro (APPEND_TO_CACHED_STRING)
-
 #check for depenedencies
 find_package(gazebo REQUIRED)
 find_package(Boost COMPONENTS system filesystem REQUIRED)
-find_package(Protobuf REQUIRED)
-
-if (NOT PROTOBUF_FOUND)
-	MESSAGE ("Missing: Google Protobuf (libprotobuf-dev)")
-endif()
-if (NOT PROTOBUF_PROTOC_EXECUTABLE)
-	MESSAGE ( "Missing: Google Protobuf Compiler (protobuf-compiler)")
-endif()
-if (NOT PROTOBUF_PROTOC_LIBRARY)
-	MESSAGE ("Missing: Google Protobuf Compiler Library (libprotoc-dev)")
-endif()
 
 #on windows we produce .dlls with no prefix
 if(WIN32)
diff --git a/simulation/build.gradle b/simulation/build.gradle
index 1698f19911..c0d1ff0765 100644
--- a/simulation/build.gradle
+++ b/simulation/build.gradle
@@ -5,7 +5,7 @@ publishing {
     publications {
         simulation(MavenPublication) {
             artifact zip
-            groupId 'simulation'
+            groupId 'edu.wpi.first.wpilib.simulation'
             artifactId 'simulation'
             version '1.0.0'
         }
diff --git a/simulation/frcsim_installer.sh b/simulation/frcsim-installer.sh
similarity index 94%
rename from simulation/frcsim_installer.sh
rename to simulation/frcsim-installer.sh
index be3d4a5712..a2fdbabc3b 100755
--- a/simulation/frcsim_installer.sh
+++ b/simulation/frcsim-installer.sh
@@ -121,7 +121,7 @@ function install-eclipse {
   fi
 
   tar -xf /tmp/eclipse.tar.gz -C /opt
-  ln -s /opt/eclipse/eclipse /usr/bin/eclipse
+  ln -fs /opt/eclipse/eclipse /usr/bin/eclipse
 }
 
 function install-desktops {
@@ -143,7 +143,7 @@ function install-toolchain {
   add-apt-repository ppa:openjdk-r/ppa -y
   add-apt-repository ppa:ubuntu-toolchain-r/test -y
   apt-get update
-  apt-get install libprotoc-dev libprotobuf-dev protobuf-compiler g++-4.9 openjdk-8-jdk -y
+  apt-get install cmake libprotoc-dev libprotobuf-dev protobuf-compiler g++-4.9 openjdk-8-jdk -y
   ln -fs /usr/bin/g++-4.9 /usr/bin/g++
 }
 
@@ -154,7 +154,9 @@ function install-models {
     install-fail
   fi
 
-  unzip /tmp/models.zip -d ~/wpilib/simulation
+  unzip /tmp/models.zip -d /tmp
+  mv /tmp/frcsim-gazebo-models/models ~/wpilib/simulation/models
+  mv /tmp/frcsim-gazebo-models/worlds ~/wpilib/simulation/worlds
 }
 
 function install-frcsim {
@@ -196,6 +198,8 @@ function install-frcsim {
   install-desktops
   install-models
 
+  sudo chown -R $USER:$USER ~/wpilib
+
   # Done
   echo "Installation Finished!!"
 }
diff --git a/simulation/gz_msgs/CMakeLists.txt b/simulation/gz_msgs/CMakeLists.txt
index 5ca638686e..5e79a8b971 100644
--- a/simulation/gz_msgs/CMakeLists.txt
+++ b/simulation/gz_msgs/CMakeLists.txt
@@ -1,6 +1,25 @@
-cmake_minimum_required(VERSION 2.8)
+Cmake_minimum_required(VERSION 2.8)
 project(gz_msgs)
 
+#copied from GazeboUtils.cmake
+macro (APPEND_TO_CACHED_STRING _string _cacheDesc)
+  FOREACH (newItem ${ARGN})
+    SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
+  ENDFOREACH (newItem ${ARGN})
+endmacro (APPEND_TO_CACHED_STRING)
+
+find_package(Protobuf REQUIRED)
+
+if (NOT PROTOBUF_FOUND)
+	MESSAGE ("Missing: Google Protobuf (libprotobuf-dev)")
+endif()
+if (NOT PROTOBUF_PROTOC_EXECUTABLE)
+	MESSAGE ( "Missing: Google Protobuf Compiler (protobuf-compiler)")
+endif()
+if (NOT PROTOBUF_PROTOC_LIBRARY)
+	MESSAGE ("Missing: Google Protobuf Compiler Library (libprotoc-dev)")
+endif()
+
 #list all proto files used
 get_filename_component(PROTO_DIR src/main/proto ABSOLUTE)
 set(msgs
@@ -62,10 +81,9 @@ else()
 endif()
 
 target_link_libraries(${PROJECT_NAME} ${PROTOBUF_LIBRARIES})
-set_target_properties(${PROJECT_NAME}
-  PROPERTIES
-  INSTALL_RPATH "${ENV_HOME}/wpilib/simulation/lib"
-  LIBRARY_OUTPUT_DIRECTORY ${SIMULATION_INSTALL_DIR}/lib)
+set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "$ENV{HOME}/wpilib/simulation/lib")
 
-file(COPY "${GZ_MSGS_INCLUDE_DIR}/simulation"
-  DESTINATION "${CMAKE_BINARY_DIR}/install/simulation/include")
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION "$ENV{HOME}/wpilib/simulation/lib")
+install(DIRECTORY "${GZ_MSGS_INCLUDE_DIR}/simulation"
+  DESTINATION "$ENV{HOME}/wpilib/simulation/include")
diff --git a/simulation/gz_msgs/README.md b/simulation/gz_msgs/README.md
index 203457d1cc..74266c34e3 100644
--- a/simulation/gz_msgs/README.md
+++ b/simulation/gz_msgs/README.md
@@ -1,6 +1,19 @@
 Building gz_msgs
 ================
 
-Currently uses cmake.
-This is build as a part of the whole cmake project.
-see top level building.md for detail
+gz_msgs currently uses cmake, is built on the end-users computer.
+This allows us to support various versions of protobuf (2.5 on Ubuntu 14.04, 2.6 on Ubuntu 15.10)
+
+To build, run the following commands in the ~/wpilib/simulation/gz_msgs directory.
+If that directory doesn't exist, it means you haven't installed correctly.
+
+If you're a developer for wpilib, you will need to unzip the simulation.zip file you published into ~/releases.
+If you are a student using FRCSim, you should have downloaded that zip when you installed frcsim.
+
+    mkdir build
+    cd build
+    cmake ..
+    make
+    make install
+
+If you are installing FRCSim with the script, then this *should* have be done for you.
diff --git a/wpilibc/simulation.gradle b/wpilibc/simulation.gradle
index ec70276883..7da3216dc6 100644
--- a/wpilibc/simulation.gradle
+++ b/wpilibc/simulation.gradle
@@ -67,7 +67,7 @@ task allcsim(dependsOn: [wpilibcSim, gz_msgs, frc_gazebo_plugins]){
     group = 'WPILib Simulation'
 }
 
-task wpilibcSimCopy(type: Copy) {
+task wpilibcSimCopy(type: Copy, dependsOn: allcsim) {
     description = 'copy headers and ntcore library to make simulation zip'
     group = 'WPILib Simulation'
     into "$simulationInstallDir"