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You'll need to run xacro to convert the file to urdf, which Gazebo can handle. This is easy to do if you have ROS installed:

rosrun xacro xacro.py <xacro file here>

If you don't have ROS installed, I can't think of an easy way. Let me know and I'll post the converted file. That file will undergo some changes in the upcoming week that you won't get if I do so (I maintain the segbot stack).