patched gazebo.urdf.xacro to be compatible with gazebo 1.5

ur_description/urdf/gazebo.urdf.xacro

@@ -4,17 +4,15 @@
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
   <gazebo>
-    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
+	<plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so">
       <alwaysOn>true</alwaysOn>
       <updateRate>1000.0</updateRate>
-      <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
-    </controller:gazebo_ros_controller_manager>
+    </plugin>
 
-    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
+    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
       <alwaysOn>true</alwaysOn>
       <updateRate>1.0</updateRate>
       <timeout>5</timeout>
-      <interface:audio name="power_monitor_dummy_interface" />
       <powerStateTopic>power_state</powerStateTopic>
       <powerStateRate>10.0</powerStateRate>
       <fullChargeCapacity>87.78</fullChargeCapacity>     
@@ -22,7 +20,7 @@
       <chargeRate>525</chargeRate>
       <dischargeVoltage>15.52</dischargeVoltage>
       <chargeVoltage>16.41</chargeVoltage>
-    </controller:gazebo_ros_power_monitor>
+    </plugin>
   </gazebo>
 
 </robot>