Awesome
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
- provides a library and a
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 | humble | https://packages.ros.org |
Humble | Garden | 13.x | humble | only from source |
Humble | Harmonic | 14.x | humble | only from source |
Iron | Fortress | 12.x | iron | https://packages.ros.org |
Iron | Garden | 13.x | iron | only from source |
Iron | Harmonic | 14.x | iron | only from source |
Jazzy | Harmonic | 14.x | jazzy | https://packages.ros.org |
Rolling | Harmonic | 14.x | rolling | https://packages.ros.org |