---
# System prepended metadata

title: gazebo

---

gazebo
===

# use xacro
```
<launch>
<!-- Convert xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find robot_package)/urdf/robot.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model robot" />
</launch>
```

測試urdf 
check_urdf hello.urdf