# Revision history [back]

Take a look in this Repo. Here is an example how one can include sensors in urdf.

The sensors are defined in /urdf/sensors/... Each sensor has an ...gazebo.xacro (holds gazebo relevant sdf description) and an ...urdf.xacro (which is the actual urdf description). In urdf.xacro the camera is defined as xacro:macro, therefor one can use it in other urdf like this:

<!-- Kamera -->
<xacro:include filename="\$(find luh_youbot_description)/urdf/sensors/asus_xtion_camera.urdf.xacro" />