Parser for the Semantic Robot Description Format (SRDF).
Includes a C++ and a Python parser, as well as a C++ writer.
Original reflection implementation for SDF and URDF.
- Thomas Moulard -
urdfpyimplementation, integration - David Lu -
urdf_pythonimplementation, integration - Kelsey Hawkins -
urdf_parser_pythonimplementation, integration - Antonio El Khoury - bugfixes
- Eric Cousineau - reflection (serialization?) changes Reused for srdf python parser
- Guillaume Walck -
srdfpyconversion, integration - Dave Coleman -
srdf_writer.cppimplementation
test/test_parser.cpp contains examples of how to access the SRDF elements from the C++ parser.
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
colcon test --packages-select srdfdom