See the tutorials over at http://wiki.ros.org/urdf_tutorial
Modified Version of the above ROS tutorial
Working on a controllable mecanum model which can be extended for future Triton Robotics projects, currently contains the differential drive model provided in the tutorial.
Note to self: add execuatable with
chmod +x file.py
if gazebo doesn't run or doesn't open the urdf model, or the urdf model shows up bad in rosviz but works with display.launch
killall gzclient killall gzserver
bixi urdf from https://github.com/ron1818/Project_Bixi