srdfdom

Parser for the Semantic Robot Description Format (SRDF).

Includes a cpp and a python parser, as well as a cpp 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_parser.cpp contains examples how to access the srdf elements from the cpp parser

Python example

test.py contains examples how to access the srdf elements from the python parser

display_srdf reads a srdf from a file given in command line argument or from parameter server (robot_description_semantic) and displays it in a yaml format if an output option (-o ) is provided, dumps the xml (re-generated from parsed input xml)

example:

rosrun srdfdom display_srdf test/res/pr2_desc.3.srdf

Test

catkin_make run_tests_srdfdom

Changelog for package srdfdom

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 Hern