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Can I use urdf.xacro files as a simple model to drag in gazebo?

I'm working on a project where I need to get a Velodyne 16 lidar on a drone. I've got the drone spawning in via a sdf file when I launch. The repository where I got the lidar (https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/) works when testing, but doenst have a single sdf file or config file. I tried converting the .urdf.xacro files with rosrun xacro xacro --inorder VLP-16.urdf.xacro > VLP-16.urdf but that output is just an empty file. Is there any way I can just use the .urdf.xacro file inside the sdf file?