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I am posting my comment as answer do that this question can be closed.

This does not fit at all in this forum (your post is not a question). In any case, there are other packages that do this, for example Hector sensors: https://github.com/tu-darmstadt-ros-pkg/hector_models/tree/indigo-devel/hector_sensors_description/urdf

Additionally, if you think the documentation is not good you can always improve it.