srdfdom

Parser for the Semantic Robot Description Format (SRDF).

Includes a C++ and a Python parser, as well as a C++ writer.

GitHub Actions - Continuous Integration

Authors

Original reflection implementation for SDF and URDF.

• Thomas Moulard - urdfpy implementation, integration
• David Lu - urdf_python implementation, integration
• Kelsey Hawkins - urdf_parser_python implementation, integration
• Antonio El Khoury - bugfixes
• Eric Cousineau - reflection (serialization?) changes Reused for srdf python parser
• Guillaume Walck - srdfpy conversion, integration
• Dave Coleman - srdf_writer.cpp implementation

C++ example

test/test_parser.cpp contains examples of how to access the SRDF elements from the C++ parser.

Python example

test/test.py contains examples on how to access the SRDF elements from the Python parser.

scripts/display_srdf reads SRDF from a file given in a command line argument and displays it in a YAML format. If an output option (-o <filename>) is provided, it dumps the XML (re-generated from parsed input XML) to file.

example:

ros2 run srdfdom display_srdf test/resources/pr2_desc.3.srdf

Test

colcon test --packages-select srdfdom

Changelog for package srdfdom

2.0.8 (2025-05-28)

• Modernize cmake
• Contributors: mosfet80

2.0.7 (2024-10-14)

• Fix installing headers
• Contributors: Robert Haschke

2.0.6 (2024-10-13)

• Fix linking against tinyxml2
• Install headers into include/srdfdom/srdfdom to make overlays work
• Contributors: Robert Haschke

2.0.5 (2024-10-06)

• Fix README instructions for ROS 2 (#130)
• Support conditional urdf/model.hpp include (#127)
• Remove rospy usage (#129)
• Add Jazzy to CI (#128)
• Update CMakeLists.txt (#123)
  • minimum cmake version: 3.8
  • use default C++17
• CI: Use clang-format-14
• CI: update pre-commit tool versions (#125)
• CI: drop Galactic, add Iron
• CI: Update action versions (#121)
• CI: update actions/checkout to version 3 (#116)
• Update .pre-commit-config.yaml (#113)
• Parse decimals in a locale-independent way (#108)
• Humble and formatting updates (#107)
• Contributors: AndyZe, Robert Haschke, Sebastian Castro, Vatan Aksoy Tezer, mosfet80

2.0.4 (2022-05-09)

• Parse <disable_default_collisions> and <enable_collisions> tags (#101, from #97)
• Fix Windows .dll install location (#98)
• Contributors: Robert Haschke, Abishalini Sivaraman, Akash, Henning Kayser

2.0.3 (2021-09-27)

• Use modern cmake (#96)
• Fix unit tests & setup.py file (#94)
• Fix use of tinyxml2_vendor (#95)
• Fixes for usage on windows (#91)
• Contributors: Akash, Jafar Abdi, Vatan Aksoy Tezer

2.0.2 (2021-05-24)

• Support rolling CI (#85)
• Contributors: Vatan Aksoy Tezer

2.0.1 (2021-04-09)

• SRDFWriter: Add functionality to generate xml for the joint properties
• Add a new JointProperties xml tag
• Add diff_drive type to virtual joints
• [fix] export cmake library install (#76)
• Contributors: David V. Lu, Jafar Abdi, Mark Moll, Robert Haschke, Tyler Weaver

2.0.0 (2020-11-23)

• [fix] Conflicting upstream dependency console_bridge
  • Add console_bridge libs with ament_target_dependencies (#59)
  • Use console_bridge_vendor dependency wrapper (#61)
• [maint] Inherit package VERSION from package.xml (#74)
• [maint] Symbol visibility for Windows support (#69)
• [maint] Proper exporting of TinyXML2 library to dependent ament packages (#54)
• [ros2-migration] Port to ROS 2

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