Building Mobile Robot

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I used the tutorials to make a differential robot in Gazebo with a camera. I want to use this robot with ROS. I thought I could simply describe the robot using SDL but now that I reached the Connect with ROS and in the first part it says I need to start with a URDF description of the robot.

I think in the first tutorials(Build Robot) there should be some warning to people, that they should start by creating their robots in URDF if they want to use them with ROS.