Here you can download a manual (written in Spanish by Sergio González-Muriel) for doing a fresh installation of the original software suite shipped with the Crumb robot (Turtlebot + WidowX arm) and its Gazebo simulators. This installation uses an old version of Ubuntu and the other sw (e.g., ROS) because of dependencies of some packages with old software.
Here you can download some packages that have to be installed as they are.
Today Marina Aguilar has presented her MSc dissertation on the ROS/Gazebo simulator she developed for the CRUMB robot, obtaining the maximum grade (10.0). She has made a really nice presentation of her work, that includes both the simulator of the robot and the kinematic models of the Widow-X arm.
Here is the first video in Gazebo. CRUMB can pick and place objects. The most important thing in Gazebo is that the object must be in the middle of the gripper, otherwise the object can not be grasped or can be glued.