SDFormat XML Robot Descriptions

This repo enables using SDFormat XML as a robot description format instead of URDF XML. It does this by providing a urdf_parser_plugin for SDFormat that reads SDFormat and outputs URDF C++ DOM structures. To use it, install sdformat_urdf and use a valid SDFormat XML file (with some limitations) for your robot description. See the README in the sdformat_urdf package for more info on the limitations.

Packages

• sdformat_urdf
  • provides a library and a urdf_parser_plugin using that library to convert SDFormat XML to URDF C++ DOM structures
• sdformat_test_files
  • provides SDFormat models using different parts of the SDFormat XML specification for testing

Version combinations

This package can be compiled against versions of libSDFormat.

Set the GZ_VERSION environment variable to match the libSDFormat version you'd like to compile against. For example:

export GZ_VERSION=fortress

You only need to set this variable when compiling, not when running. ROS version | Gazebo version | libSDFormat version | Branch | Binaries hosted at -- | -- | -- | -- | -- Galactic | Citadel | 9.x | galactic | https://packages.ros.org Galactic | Edifice | 11.x | galactic | only from source Galactic | Fortress | 12.x | galactic | only from source Humble | Fortress | 12.x | ros2 | https://packages.ros.org Humble | Garden | 13.x | ros2 | only from source Rolling | Fortress | 12.x | ros2 | https://packages.ros.org Rolling | Garden | 13.x | ros2 | only from source