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You'll have to generate the URDF files from your .xacro files. Then, Gazebo can directly read URDF files, the conversion to SDF will happen internally.

You'll have to generate the URDF files from your .xacro files. Then, Gazebo can directly read URDF files, the conversion to SDF will happen internally. Here's a related tutorial.

You'll have to generate the URDF files from your .xacro files. Then, Gazebo can directly read URDF files, the conversion to SDF will happen internally. Here's a related tutorial.tutorial and here a similar question.