Adapted to simulation

urdf/ax12_pan_tilt.xacro

 <?xml version="1.0"?>
 <root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <!--<xacro:include filename="$(find iri_dynamixel_pan_tilt_gazebo)/urdf/dynamixel_pan_tilt.gazebo"/>-->
+  <xacro:include filename="$(find iri_dynamixel_pan_tilt_gazebo)/urdf/ax12_pan_tilt.gazebo"/>
   <xacro:include filename="$(find iri_dynamixel_pan_tilt_description)/urdf/ax12.xacro"/>
 
   <xacro:macro name="pan_tilt_ax12" params="prefix parent pan_joint_name tilt_joint_name load_name *origin">
@@ -10,6 +10,7 @@
       <container>
         <geometry>
           <box size=".054 .032 .04"/>
+          <!--<mesh filename="package://iri_dynamixel_pan_tilt_description/meshes/dynamixel_ax12.stl"/>-->
         </geometry>
       </container>
       <container>
@@ -26,6 +27,7 @@
       <container>
         <geometry>
           <box size=".054 .04 .032"/>
+          <!--<mesh filename="package://iri_dynamixel_pan_tilt_description/meshes/dynamixel_ax12.stl"/>-->
         </geometry>
       </container>
       <container>
@@ -44,27 +46,29 @@
       <xacro:insert_block name="origin" />
     </joint>
 
-  <xacro:servo_joint name="${pan_joint_name}" parent="${prefix}_pan" child="${prefix}_tilt">
-    <container>
-      <origin rpy="0 0 0" xyz="0 0 0.04"/>
-    </container>
-    <container>
-      <limit effort="25.0" lower="-3.14159" upper="3.14159" velocity="0.5"/>
-    </container>
-  </xacro:servo_joint>
+    <xacro:servo_joint name="${pan_joint_name}" parent="${prefix}_pan" child="${prefix}_tilt">
+      <container>
+        <origin rpy="0 0 0" xyz="0 0 0.04"/>
+      </container>
+      <container>
+        <limit effort="25.0" lower="-3.14159" upper="3.14159" velocity="0.5"/>
+      </container>
+    </xacro:servo_joint>
+
+    <xacro:servo_transmission name="${pan_joint_name}" joint_interface="EffortJointInterface" reduction="1"/>
 
-  <xacro:servo_transmission name="${pan_joint_name}" joint_interface="EffortJointInterface" reduction="1"/>
+    <xacro:servo_joint name="${tilt_joint_name}" parent="${prefix}_tilt" child="${load_name}">
+      <container>
+        <origin rpy="-1.57 -1.57 0" xyz="0 0.02 0.0205"/>
+      </container>
+      <container>
+        <limit effort="25.0" lower="-3.14159" upper="3.14159" velocity="0.5"/>
+      </container>
+    </xacro:servo_joint>
 
-  <xacro:servo_joint name="${tilt_joint_name}" parent="${prefix}_tilt" child="${load_name}">
-    <container>
-      <origin rpy="-1.57 -1.57 0" xyz="0 0.02 0.0205"/>
-    </container>
-    <container>
-      <limit effort="25.0" lower="-3.14159" upper="3.14159" velocity="0.5"/>
-    </container>
-  </xacro:servo_joint>
+    <xacro:servo_transmission name="${tilt_joint_name}" joint_interface="EffortJointInterface" reduction="1"/>
 
-  <xacro:servo_transmission name="${tilt_joint_name}" joint_interface="EffortJointInterface" reduction="1"/>
+    <xacro:ax12_pan_tilt_gazebo prefix="${prefix}" pan_joint_name="${pan_joint_name}" tilt_joint_name="${tilt_joint_name}"/>
 
   </xacro:macro>