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"/>
...