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srdfdom

Parser for Semantic Robot Description Format (SRDF).

Includes a cpp and a python parser

Build Status

master branch: Build Status

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

Cpp 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