robot_system.gazebo.xacro

<?xml version="1.0"?>
<robot name="robot_system" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="robot_system_gazebo" params="robot_prefix robot_parameter_name">

    <gazebo reference="${robot_prefix}base_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}shoulder_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}upper_arm_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}forearm_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}wrist_1_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}wrist_2_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}wrist_3_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="${robot_prefix}ee_link">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>

    <gazebo>
      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotParam>${robot_parameter_name}</robotParam>
      </plugin>
    </gazebo>
</xacro:macro>

</robot>