ur10_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="ur10" >

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

  <!-- ur10 -->
  <include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />

  <!-- arm -->
  <xacro:ur10_robot prefix="">
  </xacro:ur10_robot>


</robot>