srdfdom

Parser for Semantic Robot Description Format (SRDF).

README

srdfdom

Parser for the Semantic Robot Description Format (SRDF).

Includes a C++ and a Python parser, as well as a C++ writer.

GitHub Actions - Continuous Integration

Formatting(pre-commit) BuildAndTest codecov

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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/test_parser.cpp contains examples of how to access the SRDF elements from the C++ parser.

Python example

test/test.py contains examples on how to access the SRDF elements from the Python parser.

scripts/display_srdf reads SRDF from a file given in a command line argument and displays it in a YAML format. If an output option (-o <filename>) is provided, it dumps the XML (re-generated from parsed input XML) to file.

example:

ros2 run srdfdom display_srdf test/resources/pr2_desc.3.srdf

Test

colcon test --packages-select srdfdom