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reference(define) my own coded gazebo plugin in urdf file

Hi, i write a gazebo plugin to control my robot(annie), i spawn urdf file in gazebo instead of sdf file, here is my code to reference my plugin in urdf:

<gazebo> <controller:annie name="MecanumWheels" plugin="/home/gazebo_plugin_annie/build/libwheel.so"> <platform>platform</platform> <wheel1>wheel1</wheel1> <wheel2>wheel2</wheel2> <wheel3>wheel3</wheel3> <wheel4>wheel4</wheel4> <w12>w12</w12> <w22>w22</w22> <w32>w32</w32> <w42>w42</w42> </controller:annie> </gazebo>

When i launch the file, it showed that i have the wrong sdf file format. Then i tried another version instead of before: <plugin name="wheel" filename="/home/gazebo_plugin_annie/build/libwheel.so">

and it does not work neither. How can i reference(define) my own coded gazebo plugin in urdf file? Please help me, thanks in advance! Shengnan Chen