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There is an open ticket against gazebo to create a SDF to URDF conversion tool: https://bitbucket.org/osrf/gazebo/issue/1482/sdf-to-urdf-convertor

Since the URDF is used in several places in ROS, it makes sense to try to convert an SDF into a URDF so that it can be visualized by rviz and used with robot_state_publisher.

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