Submitted my pull request to be added to the CP Beta. This will be version 1 of the beta, the first of a series of incremental fixes to ensure quality and stability pushing for the full release. When it is accepted and integrated and pushed by Gazebo, then you guys will be able to play it (CP and CBP). I will make another thread to incorporate beta feedback, so it doesn't get cluttered with any beta release version. Until then, feel free to ask me any questions! Thank you for everyone that contributed to this thread, all of your feedback has been taken into consideration, if I replied or didn't!