• main() : gazeboros.cpp , urdf2model.cpp , set_model_pose.cpp
• ParseArgs() : gazeboros.cpp
• PrintUsage() : gazeboros.cpp
• PrintVersion() : gazeboros.cpp
• setup_transform() : set_model_pose.cpp
• SignalHandler() : gazeboros.cpp
• traverse_tree() : set_model_pose.cpp
• usage() : urdf2model.cpp