urdf

Description

This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases. This package contains a number of XML specifications for robot models, sensors, scenes, etc. Each XML specification has a corresponding parser in one or more languages.

Software Architecture

Software architecture description # urdf

input:

urdf/
├── README.md
├── urdf
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── include
│   ├── mainpage.dox
│   ├── package.xml
│   ├── src
│   ├── test
│   └── urdfdom_compatibility.h.in
└── urdf_parser_plugin
    ├── AMENT_IGNORE
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── include
    └── package.xml

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/urdf/ros-foxy-ros-urdf-2.4.0-2.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/urdf/ros-foxy-ros-urdf-2.4.0-2.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-urdf-2.4.0-2.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-urdf-2.4.0-2.oe2203.x86_64.rpm

Instructions

Dependence installation:

sh /opt/ros/foxy/install_dependence.sh

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

./
|-- COLCON_IGNORE
|-- _local_setup_util_ps1.py
|-- _local_setup_util_sh.py
|-- bin
|-- include
|-- lib
|-- lib64
|-- local_setup.bash
|-- local_setup.ps1
|-- local_setup.sh
|-- local_setup.zsh
|-- setup.bash
|-- setup.ps1
|-- setup.sh
|-- setup.zsh
|-- share
|   `-- urdf
|       |-- hook
|       |-- package.bash
|       |-- package.dsv
|       |-- package.ps1
|       |-- package.sh
|       |-- package.xml
|       |-- package.zsh
|       |-- plugin.xml
|       `-- resource
`-- src

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

Gitee Feature

1. You can use Readme_XXX.md to support different languages, such as Readme_en.md, Readme_zh.md
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