ros-planning / srdfdom

Semantic Robot Description Format

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

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