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

2.0.7 (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 (#52)
  • Apply initial port by AcutronicsRobotics (AcutronicRobotics:srdfdom#1, AcutronicRobotics:srdfdom#2, AcutronicRobotics:srdfdom#3, AcutronicRobotics:srdfdom#4)
  • Enable Travis CI
• Contributors: Alejandro Hernandez Cordero, Anas Mchichou El Harrak, Henning Kayser, Hunter L. Allen, Josh Langsfeld, Lior Lustgarten, Patrick Beeson, Robert Haschke

0.6.2 (2020-09-09)

• [bugfix] Correctly return success in SRDFWriter::writeSRDF().
• Contributors: Robert Haschke

0.6.1 (2020-09-06)

• [bugfix] SRDFWriter: Correctly populate XML document
• [bugfix] SRDFWriter: Use locale independent conversion from double to string (#67)
• [maint] Silence cmake warning
• Contributors: Robert Haschke

0.6.0 (2020-08-19)

• [maint] Switch from TinyXML to TinyXML2 (#60)
• [maint] add soname to library (#63)
• Contributors: Robert Haschke, Tyler Weaver

0.5.2 (2020-06-30)

• [maint] Modernize Travis config (#57)
• [maint] Modernize package.xml
• [maint] Modernize python (python2 / python3 compatibility)
• [maint] Modernize cmake and setup.py
• [maint] Fix unittest
• [maint] Use [[deprecated]] for better portability (#47)
• [maint] Travis: enable ccache
• [maint] Fix catkin_lint issues
• [maint] Format code with clang-format (#42, #43)
• [bugfix] Parse group's robot states with C locale (#44)
• [bugfix] Trigger error in case of SRDF syntax error (#41)
• Contributors: Alejandro Hernández Cordero, Dave Coleman, Jonathan Binney, Michael Görner, Robert Haschke, Sean Yen, Simon Schmeisser, kkufieta

0.5.0 (2018-04-24)

• Switch to std::shared_ptr of C++11 (#36)
• Change log{Error,Warn} -> CONSOLE_BRIDGE_log{Error,Warn} (#37)
• Contributors: Chris Lalancette, Ian McMahon

0.4.2 (2017-01-30)

• [fix] gcc6 build error #28
• [fix] Compile with -std=c++11 (#29)
• [enhancement] cleanup urdfdom compatibility (#27)
• Contributors: Dmitry Rozhkov, Isaac I.Y. Saito, Robert Haschke, Victor Matare

0.4.1 (2016-09-22)

• [fix][system] Build failure for Ubuntu Wily and Debian Jesie (urdfdom compatibility #25)
  • test for existence of urdf typedef
  • if not existing, activate compatibility header
• Contributors: Michael Goerner, Robert Haschke

0.4.0 (2016-09-09)

• [fix] Define shared_ptr typedef (adjusting to the recent change in urdfdom) #21
• Contributors: Dave Coleman, Robert Haschke

0.3.2 (2016-08-25)

• [feat] Move SRDF-specific commands from moveit package #14
• [sys] remove ROS-dependent logging.
• [sys] Much cleanup in package.xml. #12 pkg-config is no longer used after https://github.com/ros-planning/srdfdom/commit/19b23e5900e9c179089e99caae52023f95d2fec8#diff-af3b638bc2a3e6c650974192a53c7291
• Contributors: Dave Coleman, Sarah Elliott, Robert Haschke, Isaac I.Y. Saito

0.3.1 (2016-08-01)

• Change logError to Warn if collision link missing #10 Since MoveIt continues to load anyway, it makes sense to change the unknown collision link pairs ROS Error to a ROS Warning. Everything continues to work if a specified set of collision-link pairs is missing.
• Contributors: Dave Coleman, Ian McMahon

0.3.0 (2015-06-16)

• Removed unwanted python compiled file
• Fixed path to resource in python test to work for rostest
• Fixed authors, added doc
• Fixed group_state parsing and changed chain as an aggregate
• Renamed groups as subgroups when integrated in a group
• Added the cpp tests in the python test
• Fixed missing install
• Added a python parser based on urdf_parser_py and using its reflection interface
• Contributors: Dave Coleman, Guillaume Walck

0.2.7 (2014-07-01)

• fixing dependencies for https://github.com/ros/rosdistro/issues/4633
• added travis build status indicator in README.md
• added travis support
• use FindTinyXML from cmake_module
• Contributors: Dave Coleman, Dave Hershberger, Ioan Sucan, Tully Foote

0.2.6 (2013-07-19)

• fix incorrect tag name