urdf

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.

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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