README

urdf

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Description

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.

The URDF parser is a fundamental component in ROS2 robotics, enabling robots to load their mechanical structure, kinematics, dynamics, visualization, and collision properties from XML files. This package provides the core C++ API for parsing URDF files and constructing robot models in memory, with support for plugins to extend functionality.

Key features:

  • Parse URDF XML files into C++ robot model objects

  • Support for links, joints, transmissions, materials, and sensors

  • Plugin-based architecture for custom parsers

  • Backwards-compatible API

  • Integration with urdfdom for DOM representation

Authors

  • Ioan Sucan (isucan@gmail.com)

  • Jackie Kay (jacquelinekay1@gmail.com)

  • Shane Loretz (sloretz@osrfoundation.org)

Maintainers

  • Alejandro Hernandez Cordero (alejandro@openrobotics.org)

  • Chris Lalancette (clalancette@openrobotics.org)

License

BSD