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Hi,

The issue is that the turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro is only used for ROS1 versions of the package. You can find the .gazebo.xacro files in any of the ROS1 branches of the turtlebot _description package.

For ROS2, the gazebo simulation of TB3 is changed to .sdf files, by default those are stored in turtlebot3_gazebo/models/.

The turtlebot3_burger model file is turtlebot3_gazebo/models/turtlebot3_burger/model.sdf. All the plugin configurations are done there.

Hope this helps!