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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

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 versionGazebo versionlibSDFormat versionBranchBinaries hosted at
GalacticCitadel9.xgalactichttps://packages.ros.org
GalacticEdifice11.xgalacticonly from source
GalacticFortress12.xgalacticonly from source
HumbleFortress12.xhumblehttps://packages.ros.org
HumbleGarden13.xhumbleonly from source
HumbleHarmonic14.xhumbleonly from source
IronFortress12.xironhttps://packages.ros.org
IronGarden13.xirononly from source
IronHarmonic14.xirononly from source
JazzyHarmonic14.xjazzyhttps://packages.ros.org
RollingHarmonic14.xrollinghttps://packages.ros.org