https://github.com/openrr/urdf-rs

URDF parser for Rust
https://github.com/openrr/urdf-rs

robot robotics ros rust urdf

Last synced: 30 days ago
JSON representation

URDF parser for Rust

• Host: GitHub
• URL: https://github.com/openrr/urdf-rs
• Owner: openrr
• License: apache-2.0
• Created: 2017-04-15T08:11:55.000Z (about 8 years ago)
• Default Branch: main
• Last Pushed: 2025-02-17T09:53:28.000Z (3 months ago)
• Last Synced: 2025-03-28T22:12:53.017Z (about 1 month ago)
• Topics: robot, robotics, ros, rust, urdf
• Language: Rust
• Homepage:
• Size: 104 KB
• Stars: 34
• Watchers: 4
• Forks: 13
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-rust-list - urdf-rs - rs?style=social"/> : [URDF](http://wiki.ros.org/urdf) parser using [serde-xml-rs](https://github.com/RReverser/serde-xml-rs) for rust. (Robot Operating System)
• awesome-rust-list - urdf-rs - rs?style=social"/> : [URDF](http://wiki.ros.org/urdf) parser using [serde-xml-rs](https://github.com/RReverser/serde-xml-rs) for rust. (Robot Operating System)

README

        
# urdf-rs

[![Build Status](https://img.shields.io/github/actions/workflow/status/openrr/urdf-rs/ci.yml?branch=main&logo=github)](https://github.com/openrr/urdf-rs/actions) [![crates.io](https://img.shields.io/crates/v/urdf-rs.svg?logo=rust)](https://crates.io/crates/urdf-rs) [![docs](https://docs.rs/urdf-rs/badge.svg)](https://docs.rs/urdf-rs) [![discord](https://dcbadge.vercel.app/api/server/8DAFFKc88B?style=flat)](https://discord.gg/8DAFFKc88B)

[URDF](http://wiki.ros.org/urdf) parser for Rust.

Only [link](http://wiki.ros.org/urdf/XML/link) and [joint](http://wiki.ros.org/urdf/XML/joint) are supported.

## Example

You can access urdf elements like below example.

```rust

let urdf_robot = urdf_rs::read_file("sample.urdf").unwrap();

let links = urdf_robot.links;

println!("{:?}", links[0].visual[0].origin.xyz);

let joints = urdf_robot.joints;

println!("{:?}", joints[0].origin.xyz);

```

## `OpenRR` Community

[Here](https://discord.gg/8DAFFKc88B) is a discord server for `OpenRR` users and developers.