For my project I am trying to model and control a quadrotor with actuating arms. As I don't have a physical model with me, I want to simulate and control the robot using ROS and Gazebo.
At the moment I have created a CAD design (servos are used to rotate the arms). I have read about URDF and know that I can define stuff such as sensors, velocity, inertia etc. The question here is as to how I can link the urdf with my cad model. How can I make the propellers and servos move to make the robot fly?