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A urdf_parser_plugin using libsdformat to parse SDFormat XML into URDF structures

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SDFormat XML Robot Descriptions

This repo enables using SDFormat XML as a robot description format instead of URDF XML. It does this by providing a urdf_parser_plugin for SDFormat that reads SDFormat and outputs URDF C++ DOM structures. To use it, install sdformat_urdf and use a valid SDFormat XML file (with some limitations) for your robot description. See the README in the sdformat_urdf package for more info on the limitations.

Packages

  • sdformat_urdf
    • provides a library and a urdf_parser_plugin using that library to convert SDFormat XML to URDF C++ DOM structures
  • sdformat_test_files
    • provides SDFormat models using different parts of the SDFormat XML specification for testing

Version combinations

This package can be compiled against versions of libSDFormat.

Set the GZ_VERSION environment variable to match the libSDFormat version you'd like to compile against. For example:

export GZ_VERSION=fortress

You only need to set this variable when compiling, not when running.

ROS version Gazebo version libSDFormat version Branch Binaries hosted at
Galactic Citadel 9.x galactic https://packages.ros.org
Galactic Edifice 11.x galactic only from source
Galactic Fortress 12.x galactic only from source
Humble Fortress 12.x humble https://packages.ros.org
Humble Garden 13.x humble only from source
Humble Harmonic 14.x humble only from source
Iron Fortress 12.x iron https://packages.ros.org
Iron Garden 13.x iron only from source
Iron Harmonic 14.x iron only from source
Jazzy Harmonic 14.x jazzy https://packages.ros.org
Rolling Harmonic 14.x rolling https://packages.ros.org

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A urdf_parser_plugin using libsdformat to parse SDFormat XML into URDF structures

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