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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>