TinyURDFParser

TinyURDFParser is a lightweight URDF parser library, based on TinyXML2, that converts an [URDF file] into a KDL object.

Requirements

Build requirements

• CMake 3.13 or newer.
• A C++ compiler, compatible with C++ 17 (tested with gcc 9.4.0)

Libraries

• TinyXML2 (zlib, added as submodule)
• Catch2 (BSL-1.0, added as submodule)
• PyBind11 (custom license, added as submodule)
• Eigen3 (MPL2)
• orocos KDL (LGPL-2.1)

Installation

1. Clone this repository.
2. Install the dependencies.

• For TinyXML2, pybind11 and Catch2 (inside the project repository): git submodule update --init --recursive

3. Perform a normal CMake based installation: mkdir build, cd build, cmake .., make, make install. CMakeLists comes with a list of option that you can toggle or not in function of your needs:

• -DBUILD_TESTS={ON/OFF} to build the tests. To run them, in your build folder: make test.
• -DBUILD_EXAMPLES={ON/OFF} to build the C++ examples.
• -DUSE_KDL={ON/OFF} to use KDL (needed for the python bindings).
• -DBUILD_PYTHON_BINDINGS={ON/OFF} to build the python bindings.

Usage

See examples folder for minimal use cases.