https://github.com/moveit/srdfdom

Semantic Robot Description Format
https://github.com/moveit/srdfdom

Last synced: 4 days ago
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Semantic Robot Description Format

• Host: GitHub
• URL: https://github.com/moveit/srdfdom
• Owner: moveit
• License: bsd-3-clause
• Created: 2012-10-20T09:30:52.000Z (about 12 years ago)
• Default Branch: noetic-devel
• Last Pushed: 2024-10-17T20:18:09.000Z (3 months ago)
• Last Synced: 2024-12-25T11:15:16.985Z (11 days ago)
• Language: C++
• Homepage:
• Size: 197 KB
• Stars: 13
• Watchers: 25
• Forks: 71
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • License: LICENSE.txt

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README

        
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

[![Format](https://github.com/ros-planning/srdfdom/actions/workflows/format.yml/badge.svg?branch=noetic-devel)](https://github.com/ros-planning/srdfdom/actions/workflows/format.yml?branch=noetic-devel) [![BuildAndTest](https://github.com/ros-planning/srdfdom/actions/workflows/industrial_ci_action.yml/badge.svg?branch=noetic-devel)](https://github.com/ros-planning/srdfdom/actions/workflows/industrial_ci_action.yml?branch=noetic-devel)

## 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