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SDFormat is an XML file format that describes environments, objects, and robots in a manner suitable for robotic applications. SDFormat is capable of representing and describing different physic engines, lighting properties, terrain, static or dynamic objects, and articulated robots with various sensors, and acutators. The format of SDFormat is also described by XML, which facilitates updates and allows conversion from previous versions.
See the SDFormat Website for a more comprehensive
description of the specification, proposals for modifications, developer
information, etc.
This website is published using some information from the
sdf_tutorials repository.
- SDFormat - The specification.
- SDF - Synonym for SDFormat, though SDFormat should be preferred, as "SDF" is an acronym with other meanings.
libsdformat- The C++ parsing code contained within this repository, which can be used to read SDFormat files and return a C++ interface.
We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.
The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
On Ubuntu systems, apt-get can be used to install sdformat:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt install libsdformat<#>-dev libsdformat<#>Be sure to replace <#> with a number value, such as 2 or 3, depending on
which version you need, or leave it empty for version 1.
On macOS, add OSRF packages:
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
brew tap osrf/simulationInstall sdformat:
brew install sdformat<#>Be sure to replace <#> with a number value, such as 1 or 2, depending on
which version you need.
Install Conda package management system. Miniconda suffices.
Create if necessary, and activate a Conda environment:
conda create -n gz-ws
conda activate gz-ws
Install sdformat:
conda install libsdformat --channel conda-forge
You can view all the versions with
conda search libsdformat --channel conda-forge
and install a specific minor version with
conda install libsdformat=12.5.0 --channel conda-forge
Note: the main branch is under development for libsdformat13 and is
currently unstable. A release branch (sdf12, sdf11, sdf10, sdf9, etc.)
is recommended for most users.
Standard installation can be performed in UNIX systems using the following steps:
mkdir build
cd build
cmake .. # Consider specifying -DCMAKE_INSTALL_PREFIX=...
make installsdformat supported cmake parameters at configuring time:
USE_INTERNAL_URDF(bool) [defaultFalse]
Use an internal copy of urdfdom 1.0.0 instead of look for one installed in the systemUSE_UPSTREAM_CFLAGS(bool) [defaultTrue]
Use the sdformat team compilation flags instead of the common set defined by cmake.
To uninstall the software installed with the previous steps:
cd build
make uninstallClone the repository
git clone https://github.com/gazebosim/sdformat -b sdf<#>Be sure to replace <#> with a number value, such as 1 or 2, depending on
which version you need.
Install dependencies
brew install --only-dependencies sdformat<#>- Configure and build
cd sdformat
mkdir build
cd build
cmake .. # Consider specifying -DCMAKE_INSTALL_PREFIX=...
make- Optionally, install and uninstall
sudo make installTo uninstall the software installed with the previous steps:
cd build/
sudo make uninstallInstall Conda package management system. Miniconda suffices.
Create if necessary, and activate a Conda environment:
conda create -n gz-ws
conda activate gz-ws
Install prerequisites:
conda install urdfdom --channel conda-forge
Install Gazebo dependencies:
You can view lists of dependencies:
conda search libsdformat --channel conda-forge --info
Install dependencies, replacing <#> with the desired versions:
conda install libgz-math<#> libgz-tools<#> --channel conda-forge
This assumes you have created and activated a Conda environment while installing the Prerequisites.
- Configure and build
mkdir build
cd build
cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
cmake --build . --config Release
- Install
cmake --install . --config Release