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rhaschke and scpeters assign correct MaterialPtr to all visuals (#114)
* assign correct MaterialPtr to all visuals

So far, only the first visual in visual_array got the correct MaterialPtr assigned.

* fix errors

* tolerate undefined materials with a warning

* Minor style fixups.

Signed-off-by: Chris Lalancette <>
Latest commit 3ffc4ee Jan 31, 2019
Type Name Latest commit message Commit time
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.travis Test locale (#115) Nov 14, 2018
cmake Add CMake uninstall target (#94) Oct 10, 2017
urdf_parser assign correct MaterialPtr to all visuals (#114) Jan 30, 2019
xsd fix #16 Nov 21, 2013
.gitignore xml_reflection: Refactoring into catkin package. Trying to figure out… Jul 11, 2013
.travis.yml Remove all references to boost Jul 20, 2016
CMakeLists.txt Bump to 1.0.3, require urdfdom_headers 1.0.3 (#121) Jan 29, 2019
LICENSE merge Apr 8, 2014


The URDF (U-Robot Description Format) library provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.

For now, the details of the URDF specifications reside on

Build Status

Build Status

Using with ROS

If you choose to check this repository out for use with ROS, be aware that the necessary package.xml is not included in this repo but instead is added in during the ROS release process. To emulate this, pull the appropriate file into this repository using the following format. Be sure to replace the ALLCAPS words with the apropriate terms:


For example:


Installing from Source with ROS Debians

Warning: this will break ABI compatibility with future /opt/ros updates through the debian package manager. This is a hack, use at your own risk.

If you want to install urdfdom from source, but not install all of ROS from source, you can follow these loose guidelines. This is not best practice for installing, but works. This version is for ROS Hydro but should be easily customized for future version of ROS:

sudo mv /opt/ros/hydro/include/urdf_parser/ /opt/ros/hydro/include/_urdf_parser/
sudo mv /opt/ros/hydro/lib/ /opt/ros/hydro/lib/
sudo mv /opt/ros/hydro/lib/ /opt/ros/hydro/lib/
sudo mv /opt/ros/hydro/lib/ /opt/ros/hydro/lib/
sudo mv /opt/ros/hydro/lib/ /opt/ros/hydro/lib/
sudo mv /opt/ros/hydro/lib/pkgconfig/urdfdom.pc /opt/ros/hydro/lib/pkgconfig/_urdfdom.pc
sudo mv /opt/ros/hydro/share/urdfdom/cmake/urdfdom-config.cmake /opt/ros/hydro/share/urdfdom/cmake/_urdfdom-config.cmake

cd ~/ros/urdfdom # where the git repo was checked out
mkdir -p build
cd build
cmake ../ -DCMAKE_INSTALL_PREFIX=/opt/ros/hydro
make -j8
sudo make install

# now rebuild your catkin workspace
cd ~/ros/ws_catkin
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