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In case if you need a full code
<?xml version="1.0"?>
<robot name="my_robot" xmlns:xacro="http://ros.org/wiki/xacro">
<!--INCLUDE FILES-->
<!-- <xacro:include filename="$(find description)/my_robot.gazebo" />-->
<!-- Define robot constants -->
<xacro:property name="base_width" value="0.2159"/>
<xacro:property name="base_length" value="0.1524"/>
<xacro:property name="base_height" value="0.10795"/>
<xacro:property name="wheel_radius" value="0.0325"/>
<xacro:property name="wheel_width" value="0.02"/>
<xacro:property name="wheel_ygap" value="0.088"/>
<xacro:property name="wheel_zoff" value="0.05"/>
<xacro:property name="wheel_xoff" value="0.1"/>
<xacro:property name="caster_xoff" value="0.14"/>
<!-- Define some commonly used intertial properties -->
<xacro:macro name="box_inertia" params="m w h d">
<inertial>
<origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
<mass value="${m}"/>
<inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
</inertial>
</xacro:macro>
<xacro:macro name="cylinder_inertia" params="m r h">
<inertial>
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
<mass value="${m}"/>
<inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/>
</inertial>
</xacro:macro>
<!-- Robot Base -->
<link name="base_link">
<visual>
<geometry>
<box size="0.2159 0.1524 0.10795"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2159 0.1524 0.10795"/>
</geometry>
</collision>
<xacro:box_inertia m="15" w="0.2159" d="0.1524" h="0.10795"/>
</link>
<!-- Robot Footprint -->
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="base_footprint"/>
<origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>
</joint>
<!-- Servos -->
<link name ="head">
<visual>
<geometry>
<cylinder radius="0.01" length="0.02"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.01" length="0.02"/>
</geometry>
</collision>
<xacro:cylinder_inertia m="1" r="0.01" h="0.02"/>
</link>
<link name ="head2">
<visual>
<geometry>
<cylinder radius="0.01" length="0.02"/>
</geometry>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.01" length="0.02"/>
</geometry>
</collision>
<xacro:cylinder_inertia m="0" r="0.01" h="0.02"/>
</link>
<!-- Wheels -->
<xacro:macro name="wheel" params="prefix x_reflect y_reflect">
<link name="${prefix}_link">
<visual>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}"/>
</geometry>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}"/>
</geometry>
</collision>
<xacro:cylinder_inertia m="0.5" r="0.01" h="0.02"/>
</link>
<joint name="${prefix}_joint" type="continuous">
<parent link="base_link"/>
<child link="${prefix}_link"/>
<origin xyz="${x_reflect*wheel_xoff} ${y_reflect * (base_length/2 + wheel_width/2)} ${-wheel_zoff}" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
</xacro:macro>
<!-- Sensor -->
<link name ="sensor">
<visual>
<geometry>
<box size="0.02 0.04 0.01"/>
</geometry>
<material name="Royal Blue">
<color rgba="83 51 237 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.02 0.04 0.01"/>
</geometry>
<material name="Royal Blue">
<color rgba="83 51 237 1"/>
</material>
</collision>
<xacro:box_inertia m="15" w="0.02" d="0.04" h="0.01"/>
</link>
<!--TEST -->
<!-- <link name="lidar_link">-->
<!-- <inertial>-->
<!-- <origin xyz="0 0 0" rpy="0 0 0"/>-->
<!-- <mass value="0.125"/>-->
<!-- <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />-->
<!-- </inertial>-->
<!-- <collision>-->
<!-- <origin xyz="0 0 0" rpy="0 0 0"/>-->
<!-- <geometry>-->
<!-- <cylinder radius="0.0508" length="0.055"/>-->
<!-- </geometry>-->
<!-- </collision>-->
<!-- <visual>-->
<!-- <origin xyz="0 0 0" rpy="0 0 0"/>-->
<!-- <geometry>-->
<!-- <cylinder radius="0.0508" length="0.055"/>-->
<!-- </geometry>-->
<!-- </visual>-->
<!-- </link>-->
<gazebo reference="sensor">
<sensor type="ray" name="TeraRanger">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>2</max>
<resolution>0.02</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>50</updateRate>
<topicName>sensor/ir_front</topicName>
<frameName>base_ir_front</frameName>
<radiation>INFRARED</radiation>
<fov>0.2967</fov>
</plugin>
</sensor>
</gazebo>
<joint name="head_attach" type="revolute">
<origin xyz="0.090 0 0.064" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="head"/>
<limit effort="10.0" lower="-1.51" upper="1.51" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="head_attach2" type="revolute">
<origin xyz="0 0 0.02" rpy="0 1.6 0"/>
<parent link="head"/>
<child link="head2"/>
<limit effort="1000.0" lower="-1.51" upper="1.51" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
<axis xyz="0 0 1"/>
</joint>
<!-- <joint name="boards" type="fixed">-->
<!-- <origin xyz="0.02 0 -0.02"/>-->
<!-- <parent link="head2"/>-->
<!-- <child link="lidar_link"/>-->
<!-- <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>-->
<!-- <dynamics damping="0.0" friction="0.0"/>-->
<!-- </joint>-->
<joint name="ultrasonic" type="fixed">
<axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0.02 0 0" />
<parent link="head2"/>
<child link="sensor"/>
</joint>
<!-- <xacro:wheel prefix="drivewhl_rl" x_reflect="-1" y_reflect="1" />-->
<!-- <xacro:wheel prefix="drivewhl_rr" x_reflect="-1" y_reflect="-1" />-->
<!-- <xacro:wheel prefix="drivewhl_fl" x_reflect="1" y_reflect="1" />-->
<!-- <xacro:wheel prefix="drivewhl_fr" x_reflect="1" y_reflect="-1" />-->
</robot>
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