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You have to create a model.sdf specifying where is your .DAE to link on visual and collision descript on your .sdf; Later you do your model.sdf as image below

image description
model box contain meshes and materials

Later you can add in your CMakeLists.txt you can add this reference

foreach (dir launch models resource worlds)
       install(DIRECTORY ${dir}/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach (dir)

and when you call the model in your .world will be found in same directory ans your package