Turtlebo3_waffle and Turtlebot3_burger uses SDF for simulation in Gazebo and URDF for publishing TF and visualizing in RVIZ. Is there any particular reason for doing so?
Hi @Dharankumar ,
Yes, that is correct.
SDF stands for Simulation Description Format.
Gazebo IS a Simulator, therefore it requires files of SDF type. Even robot description URDF files are converted into SDF before simulation during Gazebo launch.
URDF stands for Universal Robot Description Format.
URDF is a sub-set of SDF, meaning all URDFs can be converted to SDF, but the opposite cannot be done.
RViz IS NOT a Simulator. RViz also expands to Robot Visualizer. It shows only the properties of the robot and not the environment around the robot (without additional tweaks).
Therefore, this is the reason why Gazebo uses SDF and RViz uses URDF.
I hope this clarifies your doubts.
Regards,
Girish
1 Like
This topic was automatically closed 10 days after the last reply. New replies are no longer allowed.