add an urdf model example

**Original report ([archived issue](https://osrf-migration.github.io/gazebo_models-gh-pages/#!/osrf/gazebo_models/issues/28)) by John Hsu (Bitbucket: [hsu](https://bitbucket.org/%7B0a186eae-abf0-4514-a951-23db5eccc286%7D/), GitHub: [hsu](https://github.com/hsu)).**

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Currently it looks like all models have been converted to sdf.
We should support URDF format for ROS community.


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add an urdf model example #28

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add an urdf model example #28

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