Create a urdf/xacro file from model of FreeCAD

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Hello, I post a new autoanswer because finally I found a solution.

1. In FreeCAD export the model as Collada (.dae).
2. Copy the file into your package, in a folder called "meshes".
3. Create an urdf file with the following content:

<robot name="your_robot_name"> <link name="base_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://your_package/meshes/model.dae"/> </geometry> </visual> </link>

(I don´t know why the format of the code is wrong)

1. Launch the urdf file with robot_state_publisher package as normal.

With this I can use my model of FreeCAD to see it in rviz, without create a complex urdf file.

Best regards. Alessandro