ur5_robot.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       name="ur5" >

  <!-- common stuff -->
  <include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
  <include filename="$(find ur_description)/urdf/materials.urdf.xacro" />

  <!-- ur5 -->
  <include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />


  <!-- arm -->
  <xacro:ur5_robot prefix="arm_">
  </xacro:ur5_robot>

</robot>