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Have a look at the files world/wg_collada.world and launch/wg_collada_world.launch in the gazebo_worlds package. They load a map from a collada file.
The code in question is:
<model:physical name="willow_map">
<xyz>-33.0 -15.0 0</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
<body:trimesh name="willow_map_body">
<geom:trimesh name="willow_map_geom">
<scale>0.02 0.02 0.02</scale>
<mesh>willowgarage.dae</mesh>
<visual>
<scale>0.02 0.02 0.02</scale>
<mesh>willowgarage.dae</mesh>
</visual>
</geom:trimesh>
</body:trimesh>
</model:physical>