URDF or SDF when working with ROS and Gazebo
I'm using ROS Melodic and Gazebo 9.6.0.
I've just started to learn ROS and Gazebo.
Reading the URDF XML specifications, I have found that there is a Gazebo tag. On its description said: "For full documentation of the Gazebo element, see Using A URDF In Gazebo."
On that tutorial, Using A URDF in Gazebo, they recommend to use SDF instead of URDF because: "a new format called the Simulation Description Format (SDF) was created for use in Gazebo to solve the shortcomings of URDF".
What do you recommend? Do I have to use URDF to describe the robot and its plugins or is it better to use SDF?