Dear ROS maintainers: We had some reports[1] of bugs produced by the URDF symbols exposed by sdformat package (it hosts an embedded copy of urdf) when used in combination with ROS urdf package. A proper fix[2] will break sdformat ABI compatibility but I was able to hack on a solution[3] that could potentially work for most of the situations and seems to respect the current ROS sdformat ABI[4], released in sdformat 1.4.11 version. I was able to install this new version and start turtlebot_simulator and husky_simulator without any problem in precise/hydro. What would we need to get the current ROS version of sdformat (1.4.7) updated to the last 1.4.11 version? Thanks. [1] https://bitbucket.org/osrf/sdformat/issue/29 [2] https://bitbucket.org/osrf/sdformat/pull-request/76 [3] https://bitbucket.org/osrf/sdformat/pull-request/75 [4] http://build.osrfoundation.org/view/API_ABI%20checker/job/sdformat-ROS_to_any-devel-saucy-amd64/9/ -- Jose Luis Rivero