my_gazebo.urdf.xacro

<?xml version="1.0" ?>
<robot name="gazebo_plugin" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <gazebo>
        <plugin name='ign_ros2_control::IgnitionROS2ControlPlugin' filename='ign_ros2_control-system'>
            <parameters>$(find baxter_moveit_config)/config/ros2_controllers.yaml</parameters>
        </plugin>
    </gazebo>

    <link name="world"/>
    <joint name="world_virtual_joint" type="fixed">
        <parent link="world"/>
        <child link="base"/>
        <origin xyz="0 0 0.9" rpy="0 0 0"/>
    </joint>

     <!-- to supressa error from move group (https://github.com/ros-controls/gazebo_ros2_control/issues/173) -->
    <link name="random1"/>
    <joint name="l_gripper_r_finger_joint_mimic" type="fixed">
        <parent link="world" />
        <child link="random1" />
    </joint>
    <link name="random2"/>
    <joint name="r_gripper_r_finger_joint_mimic" type="fixed">
        <parent link="world" />
        <child link="random2" />
    </joint>
</robot>