两个文件：model.config (必须是这个名字) 

                  box1.sdf

1. model.config文件示例：

<?xml version="1.0" ?>
<model>
    <name>box1</name>
    <version>1.0</version>
    <sdf version="1.6">box1.sdf</sdf>
    <author>
        <name>Colin Lee</name>
        <email>lcyfly1@163.com</email>
    </author>
    <description></description>
</model>

2. box1.sdf示例：

<?xml version='1.0'?>
<sdf version='1.6'>
  <model name="box1">
    <pose frame=''>0 0 0 0 -0 0</pose>
    <static>true</static>
    <link name="wall_link">
        <inertial>
          <mass>1.0</mass>
        </inertial>
        <collision name="my_collision">
          <geometry>
            <box>
              <size>0.5 0.35 2</size>
            </box>
          </geometry>
        </collision>
        <visual name="my_visual">
          <geometry>
            <box>
              <size>0.5 0.35 2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Bricks</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
    </link>
  </model>
</sdf>

3. 在.world文件中使用此模型：

<model name='box1'>
      <include>
        <uri>model://box1</uri>
	      <pose> 1.2 0.8 1 0 0 1 </pose>
      </include>
</model>