It appears that in ROS2, SDF's provide finer control over the simulation aspect, giving options for things like friction or the inclusion of non-robot objects. Converting the URDF to an SDF could give better control over the simulation and allow for more accurate measurements.
This link describes the difference.
It appears that in ROS2, SDF's provide finer control over the simulation aspect, giving options for things like friction or the inclusion of non-robot objects. Converting the URDF to an SDF could give better control over the simulation and allow for more accurate measurements.
This link describes the difference.