This is one small question, Why SDF format is not that popular like URDF when creating a new robot model? What do you guys know about it?
SDF is not supported by ROS unfortunately. Although, Gazebo provides the gzsdf tool to translate from URDF to SDF. This tutorial Can show you how to use URDF in Gazebo. Give it a try! Gazebo : Tutorial : URDF in Gazebo
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