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URDF or SDF when working with ROS and Gazebo

asked 2019-02-16 00:11:35 -0500

Elric
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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?

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answered 2019-02-19 00:59:11 -0500

fvd
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To my knowledge, ROS uses only URDF, which Gazebo converts to SDF as explained in this answer. If you want to control your robot with ROS and MoveIt, you will need to use ) URDF. I have had little or no trouble adding the gazebo-specific elements to my URDF files in the past, though.

All the robot definition files that I know of deliver URDF files. This blog post helpfully links this Discord thread, which seems to imply that URDF will at least be available in ROS2 as well.

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Asked: 2019-02-16 00:11:35 -0500

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Last updated: Feb 19 '19

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URDF or SDF when working with ROS and Gazebo