Using robot_state_publisher with a .sdf file

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Looking at the documentation of robot_state_publisher, it appears that the package is really only compatible with the .urdf format. Could it work with .sdf?

If not, what would be the recommended way to create the /tf data from an .sdf model loaded in Gazebo?

My initial thoughts are to grab data from the /gazebo/link_states topic and work it into the tf format ala something like the Writing a tf broadcaster (C++) tutorial. Running this on Ubuntu 12.04 with ROS Groovy. I appreciate any insights.