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Now Gazebo has a beautifully written tutorial about it: http://gazebosim.org/tutorials?tut=ros_urdf

In a nutshell: Gazebo can read URDF but you have to add some things to it:

• [optional but useful] Use xacro to keep gazebo related stuff in separate files (for example robot.gazebo)

• Every link should have <inertia> element

• You can attache gazebo related information to links with the <gazebo reference="link_name"> tag (practically do this in robot.gazebo file)