iiwa_14_r820_robot_description/urdf/gazebo.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="<http://www.ros.org/wiki/xacro>">
    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace></robotNamespace>
            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
            <controlPeriod>0.001</controlPeriod>
            <legacyModeNS>false</legacyModeNS>
            <eStopTopic>emergency_stop</eStopTopic>
        </plugin>
    </gazebo>
</robot>

robot.urdf.xacro에서 위 gazebo.urdf.xacro를 include 한다.

<?xml version="1.0" ?>
<robot name="iiwa_14_r820_robot" xmlns:xacro="<http://www.ros.org/wiki/xacro>">
    <xacro:include filename="$(find iiwa_14_r820_robot_description)/urdf/insert_transmission.urdf.xacro"/>
    <xacro:include filename="$(find iiwa_14_r820_robot_description)/urdf/gazebo.urdf.xacro"/>

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