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SDF files with Gazebo plugin for ROS?

Hello All, I recently learned that URDF is being deprecated, being substituted by SDF. I have in the past used spawn_models node to introduce new models in my Gazebo environment. How do I spawn SDF models? I tried using the 'Open' option in the Gazebo world GUI but it gives me the following error:

Error [parser.cc:566] XML Element[static], child of element[model] not defined in SDF. Ignoring.[model] Error [parser.cc:557] Error reading element Error [parser.cc:340] Unable to parse sdf element[gazebo] Error [parser.cc:263] parse as old deprecated model file failed. Error [Server.cc:396] Unable to read sdf file[/opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/objects/first_robotv3.sdf]

The SDF file I am trying to load is exactly from the tutorials found here: http://gazebosim.org/wiki/Tutorials/1.2/build_robot/mobile_base

This should work with ROS as well right?

Please help. Thanks, Ammar

SDF files with Gazebo plugin for ROS?

Hello All, I recently learned that URDF is being deprecated, being substituted by SDF. I have in the past used spawn_models node to introduce new models in my Gazebo environment. How do I spawn SDF models? I tried using the 'Open' option in the Gazebo world GUI but it gives me the following error:

Error [parser.cc:566] XML Element[static], child of element[model] not defined in SDF. Ignoring.[model] Error [parser.cc:557] Error reading element Error [parser.cc:340] Unable to parse sdf element[gazebo] Error [parser.cc:263] parse as old deprecated model file failed. Error [Server.cc:396] Unable to read sdf file[/opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/objects/first_robotv3.sdf]

The SDF file I am trying to load is exactly from the tutorials found here: http://gazebosim.org/wiki/Tutorials/1.2/build_robot/mobile_base

This should work with ROS as well right?

Please help. Thanks, Ammar

EDIT: So after trying a few different configurations I observed that ROS has a gazebo node and a gazebo-1.0.2 node. Which one of these two supports SDF better? The default launch files I found in the simulator_gazebo stack were launching the "gazebo" node. When I try to launch the "gazebo-1.02" node I get the following error: Error [SystemPaths.cc:262] cannot load file [sdf/gazebo.sdf]in GAZEBO_RESOURCE_PATH

I am really confused with which is a stable Gazebo version I should use. Thanks