how to choose an SDFormat spec version

asked 2019-02-26 18:40:39 -0500

mogumbo gravatar image

Are there any resources out there on how to choose an SDF spec version?

As I have been playing around with SDF elements in my .xacro files, I learned that there are several versions of the SDF spec. I'm currently using Gazebo9 and SDF6. From looking at the code it appears that SDF6 defaults to the SDF 1.4 spec. Why not 1.5 or 1.6?

For my particular project I am interested in the initial_position element for my joints. initial_position is only available in SDF 1.6 and I haven't been able to get it to work. From looking at the code a little I don't think it has even been implemented. Can anyone comment on that?

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Also this: According to the SDF version is not required for URDFs. So if you use gazebo_ros spawn_model to load a URDF, what version of the SDF spec is used to load it?

mogumbo gravatar imagemogumbo ( 2019-02-27 12:30:07 -0500 )edit