Gazebo 1.9 fails to load URDF (which works in RVIZ and is validate by urdfdom)

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Hi,

I have this irritating issue that I can not spawn my URDF model in gazebo. The model has been verified with urdfdom, and I can successfully use it in RVIZ.

When I try to do so I get the following error:

Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [false] with [true].
Error [parser.cc:697] XML Element[sensor:ray], child of element[link] not defined in SDF. Ignoring.[link]
Error [parser.cc:688] Error reading element <link>
Error [parser.cc:688] Error reading element <model>
Error [parser.cc:348] Unable to read element <sdf>
Error [parser.cc:299] parse as old deprecated model file failed.
Error [World.cc:1469] Unable to read sdf string [..entire urdf model here]

The actual urdf model is here:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from youbot.urdf.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="youbot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- The following included files set up definitions of parts of the robot body -->
  <!-- misc common stuff? -->
  <!-- youbot base -->
  <!-- youbot plate -->
  <!-- youbot arm -->
  <!-- youbot gripper -->
  <!-- generic simulator_gazebo plugins for starting mechanism control, ros time, ros battery -->
  <gazebo>
    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <interface:audio name="gazebo_ros_controller_manager_dummy_iface"/>
    </controller:gazebo_ros_controller_manager>
    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <interface:audio name="power_monitor_dummy_interface"/>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </controller:gazebo_ros_power_monitor>
  </gazebo>
  <!-- materials for visualization -->
  <material name="Orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="DarkGrey">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="Red">
    <color rgba="1.0 0.0 0.0 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 1.0 0.0 1.0"/>
  </material>
  <!-- Now we can start using the macros included above to define the actual youbot -->
  <!-- The first use of a macro.  This one was defined in base.urdf.xacro above.
       A macro like this will expand to a set of link and joint definitions, and to additional
       Gazebo-related extensions (sensor plugins, etc).  The macro takes an argument, name, 
       that equals "base", and uses it to generate names for its component links and joints 
       (e.g., base_link).  The included origin block is also an argument to the macro.  By convention, 
       the origin block defines where the component is w.r.t its parent ...