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First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

In the irb2400_macro.xacro you need to add a description to the link <link name="${prefix}tool0"/> e.g. add a box with the size of the camerar:

<link name="${prefix}tool0"> 
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
            <box size="1 1 1" />
         </geometry>
    </visual>
</link>

Or add the mesh of the camera itself:

<link name="${prefix}tool0"> 
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
            <mesh filename="path_to_mesh_of_camera"/>
         </geometry>
    </visual>
</link>

The offset of the tool can be set via the origin of the following joint.

 <joint name="${prefix}base_link-base" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="${prefix}base_link"/>
        <child link="${prefix}base"/>
    </joint>

First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

In the irb2400_macro.xacro you need to add a description to the link <link name="${prefix}tool0"/> e.g. add a box with the size of the camerar:camera:

<link name="${prefix}tool0"> 
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
            <box size="1 1 1" />
         </geometry>
    </visual>
</link>

Or add the mesh of the camera itself:

<link name="${prefix}tool0"> 
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
            <mesh filename="path_to_mesh_of_camera"/>
         </geometry>
    </visual>
</link>

The offset of the tool can be set via the origin of the following joint.

 <joint name="${prefix}base_link-base" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="${prefix}base_link"/>
        <child link="${prefix}base"/>
    </joint>

First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

In Updated the irb2400_macro.xacroanswer based on the comments (thanks to gvdhoorn you need to add a description to the link <link name="${prefix}tool0"/> e.g. add a box with the size of the camera::

<link name="${prefix}tool0"> 
 
In the case of xacro:macros, there
 <visual>
would be no need. It's all meant to be
       <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
            <box size="1 1 1" />
         </geometry>
    </visual>
</link>

<link name="${prefix}tool0">    <visual>
Create a new package, depend on the
 packages which provide the parts you'd
 like to combine, create a new
 xacro:macro and combine the robot and
 <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
            <mesh filename="path_to_mesh_of_camera"/>
         </geometry>
    </visual>
</link>

 <joint name="${prefix}base_link-base" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="${prefix}base_link"/>
        <child link="${prefix}base"/>
    </joint>

First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

Updated the answer based on the comments (thanks to gvdhoorn:[gvdhoorn])(https://answers.ros.org/users/5184/gvdhoorn/):

In the case of xacro:macros, there would be no need. It's all meant to be composable.

Create a new package, depend on the packages which provide the parts you'd like to combine, create a new xacro:macro and combine the robot and EEF models together in a new model.

First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

Updated the answer based on the comments (thanks to [gvdhoorn])(https://answers.ros.org/users/5184/gvdhoorn/):

In the case of xacro:macros, there would be no need. It's all meant to be composable.

Create a new package, depend on the packages which provide the parts you'd like to combine, create a new xacro:macro and combine the robot and EEF models together in a new model.model.

First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

Updated the answer based on the comments (thanks to [gvdhoorn])(https://answers.ros.org/users/5184/gvdhoorn/):gvdhoorn):

Create a new package, depend on the packages which provide the parts you'd like to combine, create a new xacro:macro and combine the robot and EEF models together in a new model.

First of all i would recommend you to go through the tutorials to gain a better understanding of URDF.

Updated the answer based on the comments (thanks to gvdhoorn):

Create a new package, depend on the packages which provide the parts you'd like to combine, create a new xacro:macro and combine the robot and EEF models together in a new model.