urdf-rs

URDF parser using serde-xml-rs for rust.

Only link and joint are supported.

Documentation

Example

You can access urdf elements like below example.

extern crate urdf_rs;
let urdf_robo = urdf_rs::read_file("sample.urdf").unwrap();
let links = urdf_robo.links;
println!("{:?}", links[0].visual.origin.xyz);
let joints = urdf_robo.joints;
println!("{:?}", joints[0].origin.xyz);

Limitation

order of elements

You have to repeat "link" tags and "joint" tags in the urdf, like

<link />
<link />
<link />
<joint />
<joint />
<joint />

Below style does not work now.

<link />
<joint />
<link />
<joint />
<link />
<joint />

Mesh

• Only .obj files are supported now. Please convert meshes and edit the urdf.
• package:// path is ignored. $CWD is used instead.