The Gazebo comes with three geometric forms (sphere, cylinder, cube) is everywhere in the model file .gazebo

1, Gazebo comes with geometry

2, the internal selection Gazebo geometry, right -> Edit Model, models may be provided

3. Select the file -> save as saved directly into the model file .gazebo / model we need the following

http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b3