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.
sdformat_urdf- provides a library and a
urdf_parser_pluginusing that library to convert SDFormat XML to URDF C++ DOM structures
- provides a library and a
sdformat_test_files- provides SDFormat models using different parts of the SDFormat XML specification for testing
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 | humble | https://packages.ros.org |
| Humble | Garden | 13.x | humble | only from source |
| Humble | Harmonic | 14.x | humble | only from source |
| Iron | Fortress | 12.x | iron | https://packages.ros.org |
| Iron | Garden | 13.x | iron | only from source |
| Iron | Harmonic | 14.x | iron | only from source |
| Jazzy | Harmonic | 14.x | jazzy | https://packages.ros.org |
| Rolling | Harmonic | 14.x | rolling | https://packages.ros.org |