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thanks Dimitri,

but i have a problem with the pelican.stl file. I don't know why, i can open tha file correctly with FreeCAD or MeshLab, but not with gazebo. I can spawn the object, but it has a different shape.

The interested part of my file urdf is:

<link name="base_link">
    <inertial>
        <mass value="10.0" />
        <origin xyz="0 0 0" />
        <inertia  ixx="1" ixy="0.000"  ixz="0.0"  iyy="1"  iyz="0.0"  izz="1" />
    </inertial>
    <visual>
        <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
        <geometry>
            <mesh filename="package://my_pelican/data/pelican.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="blue">
            <color rgba="0.4 0.4 0.5 1.0"/>
        </material>
    </visual>
    <collision>
        <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
        <geometry>
            <mesh filename="package://my_pelican/data/pelican.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
    </collision>
</link>

<gazebo reference="base_link"> <kp>1000000000.0</kp> <kd>1.0</kd> <material>Gazebo/Blue</material> <turngravityoff>true</turngravityoff> </gazebo>