With ROS 2 Jazzy and Gazebo Harmonic (using ros_gz_sim), what’s the recommended way to describe a robot today? Should I still use a URDF/xacro file as the main robot description (with an is_sim argument that turns on/off things like <ros2_control> and tags for simulation), or is it better to switch to using only an SDF file and the sdformat_urdf plugin so the same SDF is used by both Gazebo and ROS (robot_description)? And how does this work with ros2_control?
