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Robot Operating System Cookbook by Kumar Bipin

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Using map

In Gazebo, we can develop our own virtual worlds such as offices, residential space, mountains, and so on, using the SDF file format. Here, we will use a map of a residential space that has been created using the Gazebo GUI and saved as robot.world (SDF file format) in the chapter6_tutorials/robot_gazebo/ folder. The robot with a map of residential space is shown in the preceding screenshot.

There are subtle differences between URDF and SDF file formats, despite both using XML syntax. URDF works with the rest of the ROS, whereas SDF really only works with Gazebo. Additionally, URDF can be converted into SDF specifically for Gazebo. However, SDF is more flexible and powerful with Gazebo for simulating realistic virtual worlds and ...

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