Hey together,
I am a little bit confused about the use case of xacro and urdf. I my case I have an robot equipped with 3 laserscanner and modeled a urdf file for it following the [build your URDF](http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch) tutorial. After finishing and testing this i have read that it is possible to [clean up a URDF with Xacro](http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File). Thats whats confusing for me, I don't have a Xacro file and should use a Xacro file to clean up my previously made URDF?
So was it incorrect to create an URDF, should I have created a Xacro file instead?
Thanks in advance
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