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Not quite an answer to the question, but in ROS 2 Rolling (which eventually will become Galactic) the package sdformat_urdf allows one to use SDFormat instead of URDF for a robot description in ROS (with some limitations): https://github.com/ros/sdformat_urdf . There are some examples here: https://github.com/sloretz/drake_ros2_demos/ (the examples also use Drake, but Drake isn't a requirement of sdformat_urdf).
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