SDFormat XML Robot Descriptions

This repo enables using SDFormat XML as a robot description format instead of URDF XML. It does this by providing a urdf_parser_plugin for SDFormat that reads SDFormat and outputs URDF C++ DOM structures. To use it, install sdformat_urdf and use a valid SDFormat XML file (with some limitations) for your robot description. See the README in the sdformat_urdf package for more info on the limitations.

Packages

• sdformat_urdf
  • provides a library and a urdf_parser_plugin using that library to convert SDFormat XML to URDF C++ DOM structures
• sdformat_test_files
  • provides SDFormat models using different parts of the SDFormat XML specification for testing

Version combinations

This package can be compiled against versions of libSDFormat.

Set the GZ_VERSION environment variable to match the libSDFormat version you'd like to compile against. For example:

export GZ_VERSION=fortress

You only need to set this variable when compiling, not when running.

ROS version	Gazebo version	libSDFormat version	Branch	Binaries hosted at
Galactic	Citadel	9.x	galactic	https://packages.ros.org
Galactic	Edifice	11.x	galactic	only from source
Galactic	Fortress	12.x	galactic	only from source
Humble	Fortress	12.x	ros2	https://packages.ros.org
Humble	Garden	13.x	ros2	only from source
Rolling	Fortress	12.x	ros2	https://packages.ros.org
Rolling	Garden	13.x	ros2	only from source