kdl_parser/robot_state_publisher/test/two_links_fixed_joint.urdf

<robot name="test_robot">
  <link name="link1" />
  <link name="link2" />

  <joint name="joint1" type="fixed">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="5 0 0" rpy="0 0 1.57" />
  </joint>
</robot>